Commit 3ee12ab8 authored by lildholdt's avatar lildholdt
Browse files

Working partical swarm

parent 3ffad4cb
...@@ -25,7 +25,7 @@ public class Particle ...@@ -25,7 +25,7 @@ public class Particle
private static Random rand = new Random(); private static Random rand = new Random();
private Pose pose; private Pose pose;
private float weight = 1; private float weight = 1;
private int blackWhiteThreshold = 42; private int blackWhiteThreshold = 500;
/** /**
* Create a particle with a specific pose * Create a particle with a specific pose
...@@ -76,7 +76,7 @@ public class Particle ...@@ -76,7 +76,7 @@ public class Particle
{ {
if ( m.getColor(pose) == Color.BLACK ) if ( m.getColor(pose) == Color.BLACK )
{ {
if ( lightValue < blackWhiteThreshold) if ( lightValue > blackWhiteThreshold)
weight = 0.9f; weight = 0.9f;
else else
weight = 0.1f; weight = 0.1f;
...@@ -85,7 +85,7 @@ public class Particle ...@@ -85,7 +85,7 @@ public class Particle
{ {
if ( m.getColor(pose) == Color.WHITE ) if ( m.getColor(pose) == Color.WHITE )
{ {
if ( lightValue < blackWhiteThreshold) if ( lightValue > blackWhiteThreshold)
weight = 0.1f; weight = 0.1f;
else else
weight = 0.9f; weight = 0.9f;
......
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