private synchronized float getCurrentScanDistance() {
float currentDistance = getCurrentDistanceFromObject();
float[] sample = adaptor.getRanges();
System.out.println("Scan current distance from sensor adaptor: " + currentDistance);
float[] irSample = new float[irSensor.sampleSize()];
// get the raw sample data
irSensor.getDistanceMode().fetchSample(irSample, 0);
// calculate average of scanned distances
float scanDistance = findAverageScanDistance(sample);
return scanDistance;
}
public void close() {
irSensor.close();
}
public IrScanner(Port irSensorPort) {
irSensor = new EV3IRSensor(irSensorPort);
SensorMode sensorMode = irSensor.getDistanceMode();
adaptor = new RangeFinderAdaptor(sensorMode);
}