Finch Robot Arrays

1
Finch Robot Arrays

• Pepper

2
Light Sensor

• getLightSensors()
• It will return an array of 2 integers with
• Left sensor in 0
• Right sensor in 1
• Possible array

Left Right Meaning
80 40 Right eye is getting less light
20 80 Left eye is getting less light
40 40 Both get the same light
3
Access Light Sensor array

• Make a variable of integer array type to hold the
  response
• int lights
• Call the getLightSensors() method to retrieve the
  array
• lights myFinch.getLightSensors()
• Access the value
• lights0 //gets left value
• lights1 // gets right value

0 1
80 40
4
Obstacle Sensor

• getObstacleSensors()
• It will return an array of 2 booleans with
• Left sensor in 0
• Right sensor in 1
• Possible array

Left Right Meaning
False true Left side only sees obstacle
True False Right side only sees obstacle
False False No obstacles
True True Both sides see an obstacle
5
Access Obstacle Sensor array

• Make a variable of boolean array type to hold the
  response
• boolean obs
• Call the getObstacleSensors() method to retrieve
  the array
• obs myFinch.getObstacleSensors()
• Access the value
• obs0 //gets left value
• obs1 // gets right value

0 1
80 40
6
Summary

• Two commands for retrieving sensor array from the
  Finch
• getObstacleSensors()
• getLightSensors()
• Both put left in 0 index and right in 1 index
• Obstacle returns boolean and light returns int
• Create an array to hold the response
• Int or boolean arrayname
• Call the method to fill the array setting your
  array variable the method call
• Read the result as arraynameindex