/** call this method when the light sensor is reading the low value - used by readValue */
public void calibrateLow() {
// TODO: Should these methods save calibrated data in static memory?
_zero = port.readRawValue();
}
/**
* Get the normalized light reading
*
* @return normalized raw value (0 to 1023) LEGO NXT light sensor values typically range from 145
* (dark) to 890 (sunlight).
*/
public int getNormalizedLightValue() {
return 1023 - port.readRawValue();
}
public int getLightValue() {
if (_hundred == _zero) return 0;
return 100 * (port.readRawValue() - _zero) / (_hundred - _zero);
}
public void setLaser(boolean laserState) {
port.setType(laserState ? TYPE_LIGHT_ACTIVE : TYPE_LIGHT_INACTIVE);
this.laser = laserState;
}
/**
* Create a laser sensor object attached to the specified port, and sets the laser on or off.
*
* @param port port, e.g. Port.S1
* @param laser true to turn on the laser, false for laser off.
*/
public LaserSensor(ADSensorPort port, boolean laserState) {
this.port = port;
this.laser = laserState;
port.setTypeAndMode((laserState ? TYPE_LIGHT_ACTIVE : TYPE_LIGHT_INACTIVE), MODE_PCTFULLSCALE);
}
/** call this method when the light sensor is reading the high value - used by readValue */
public void calibrateHigh() {
_hundred = port.readRawValue();
}