LineDetector.java

package nanovm.nibobee.drivers;

/**
 * Encapsulates the information about the two IR-reflex-sensors for line
 * detection. The values will be updated automatically by interrupt.
 *
 * @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;

    /**
     * Index for left sensor
     */
    public static final int LEFT = 0;

    /**
     * Index for center sensor
     */
    public static final int CENTER = 1;

    /**
     * Index for right sensor
     */
    public static final int RIGHT = 2;

    /**
     * Get the normalized value of the given sensor.
     *
     * @return measured value, between 0 and 255
     */
    public static native int getValue(int index);

    /**
     * Calibration with white reference surface.
     */
    public static native void calibrateWhite();

    /**
     * Calibration with black reference surface.
     */
    public static native void calibrateBlack();

    /**
     * enable and disable the IR LED
     *
     * @param enable true for enable
     */
    public static native void setEnableIR(boolean enable);

    /**
     * get status of IR LED enabling
     *
     * @return true when enabled
     */
    public static native boolean getEnableIR();


}