// Distance Sensors on front of bot
public void readProximitySensors(OutputStream out, byte[] buf, int len) {
try {
leftRangeFinder.ping(); // Tell the sensor to test the left range sensor
float leftDistance =
leftRangeFinder.getDistanceCm(); // Read the distance measured by the left range sensor
rightRangeFinder.ping(); // Tell the sensor to test the right range sensor
float rightDistance =
rightRangeFinder.getDistanceCm(); // Read the distance measured by the right range sensor
if (leftDistance < 0.0f) leftDistance = leftPreDist;
else leftPreDist = leftDistance;
int leftVal = (int) leftDistance;
if (rightDistance < 0.0f) // out of range (too far or too close)
rightDistance = rightPreDist;
else rightPreDist = rightDistance;
int rightVal = (int) rightDistance;
writeCRLF(out, "n, " + rightVal + ", " + leftVal);
} catch (Throwable t) {
t.printStackTrace();
}
}
