Working partical swarm

Lesson11/Programs/RobotMonitor/src/Particle.java

@@ -25,7 +25,7 @@ public class Particle
   private static Random rand = new Random();
   private Pose pose;
   private float weight = 1;
-  private int blackWhiteThreshold = 42;
+  private int blackWhiteThreshold = 500;
 
   /**
    * Create a particle with a specific pose
@@ -76,7 +76,7 @@ public class Particle
   {
 	  if ( m.getColor(pose) == Color.BLACK )
 	  {
-		  if ( lightValue < blackWhiteThreshold) 
+		  if ( lightValue > blackWhiteThreshold) 
 			  weight = 0.9f;
 		  else
 			  weight = 0.1f;
@@ -85,7 +85,7 @@ public class Particle
 	  {
 		  if ( m.getColor(pose) == Color.WHITE )
 		  {
-			  if ( lightValue < blackWhiteThreshold) 
+			  if ( lightValue > blackWhiteThreshold) 
 				  weight = 0.1f;
 			  else
 				  weight = 0.9f;