java - Finch 光传感器作为避障的预测试条件

Question

我正在尝试创建一个基本的避障行为，但我希望它仅在光传感器超过某个值时才起作用。

while (!myFinch.isBeakDown())
{
    myFinch.getLeftLightSensor();
    light = myFinch.getLeftLightSensor();   

    if (light >= 20)
    {
        if (myFinch.isObstacleLeftSide())
        {
            myFinch.setWheelVelocities(-255,-255,750);
            myFinch.setWheelVelocities(100,-255, 500);
        }   
        else if (myFinch.isObstacleRightSide())
        {
            myFinch.setWheelVelocities(-255,-255,750);
            myFinch.setWheelVelocities(-255, 100, 500);
        }  
        else
        {
            myFinch.setWheelVelocities(255,255);
        }    
    }
}

编辑 没有灯光预测试的工作避障代码。避障在没有灯光预测试的情况下也能工作，我还在 netbeans 传感器测试中测试了红外传感器。

 // Run so long as the Finch is not pointed beak down
  while(!myFinch.isBeakDown()) 
{


    if(myFinch.isObstacleLeftSide()) 
    {

        myFinch.setWheelVelocities(-255,-255,750);
        myFinch.setWheelVelocities(100,-255, 500);

    }
    // If there's an obstacle on the right, set LED blue, back up for 750 ms
    // and turn for 500 ms
    else if(myFinch.isObstacleRightSide()) 
    {

        myFinch.setWheelVelocities(-255,-255,750);
        myFinch.setWheelVelocities(-255, 100, 500);


    }
    // Else, robot goes straight
    else
    {
        myFinch.setWheelVelocities(255,255);

    }
   }

Answer 1

的值light永远不会更新，请使用

while (!myFinch.isBeakDown())
{
    light = myFinch.getLeftLightSensor();
    myFinch.sleep(1);

    if (light >= 20)
    {
        if (myFinch.isObstacleLeftSide())
        {
            myFinch.setWheelVelocities(-255,-255,750);
            myFinch.setWheelVelocities(100,-255, 500);
        }   
        else if (myFinch.isObstacleRightSide())
        {
            myFinch.setWheelVelocities(-255,-255,750);
            myFinch.setWheelVelocities(-255, 100, 500);
        }  
        else
        {
            myFinch.setWheelVelocities(255,255);
        }    
    }
}