LineDetector.java

package nanovm.nibo.drivers;

/**
 * Encapsulates the information about the two
 * IR-reflex-sensors for line detection. You will have to call the update
 * Method first to get actual values.
 *
 * @author Nils Springob
 */
public class LineDetector {
    /**
     * Maximum value from IR-sensor
     */
    public static final int MAXIMUM = 255;

    /**
     * Minimum value from IR-sensor
     */
    public static final int MINIMUM = 0;

    /**
     * Measure the reflex values on both sides and update the values.
     */
    public static native void update();

    /**
     * Get the difference between the measurement with and without IR-enlightment
     * from the left line sensor.
     *
     * @return measured value
     */
    public static native int getLeftRel();

    /**
     * Get the difference between the measurement with and without IR-enlightment
     * from the right line sensor.
     *
     * @return measured value
     */
    public static native int getRightRel();

    /**
     * Get the measured value from the left line sensor with IR-enlightment.
     *
     * @return measured value
     */
    public static native int getLeftAbs();

    /**
     * Get the measured value from the right line sensor with IR-enlightment.
     *
     * @return measured value
     */
    public static native int getRightAbs();
}