Working simulation - partical swarm

Lesson11/Programs/PilotRoute/src/PilotRoute.java

@@ -28,7 +28,11 @@ public class PilotRoute
 		PC.output((move.getMoveType() == Move.MoveType.TRAVEL? 0:1 ));
 		PC.output(move.getDistanceTraveled());
 		PC.output(move.getAngleTurned());
-		PC.output(lightsensor.getLightValue());
+	}
+	
+	private void sendLightValue(int value)
+	{
+		PC.output(value);
 	}
 	
 	private void travel(double distance)
@@ -49,9 +53,25 @@ public class PilotRoute
 		while ( ! Button.ENTER.isDown()) Thread.yield();
 		Sound.twoBeeps();
 		
-		for(int i=0;i<40;i++)
+		for(int i=0;i<30;i++)
+		{
+			travel(5);
+			sendLightValue(400);
+		}
+		for(int i=0;i<10;i++)
+		{
+			travel(5);
+			sendLightValue(600);
+		}
+		for(int i=0;i<10;i++)
+		{
+			travel(5);
+			sendLightValue(400);
+		}
+		for(int i=0;i<10;i++)
 		{
 			travel(5);
+			sendLightValue(600);
 		}
 		
 		while ( ! Button.ENTER.isDown()) Thread.yield();

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 = 500;
+  private int blackWhiteThreshold = 42;
 
   /**
    * 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;

Lesson11/Programs/RobotMonitor/src/RobotMonitor.java

@@ -92,43 +92,12 @@ public class RobotMonitor
     
     public void goSimulation()
     {
-    	for ( int i=0; i < 40; i++)
+    	for ( int i=0; i < 60; i++)
     	{
     		motionUpdate(getMove());
     		sensorUpdate(getSensorValue());
     	}
     	
-    	/*
-    	for ( int i=0; i < 16; i++)
-    	{
-    		motionUpdate(getMove());
-    		sensorUpdate(400);
-    	}
-    	
-    	for ( int i=0; i < 5; i++)
-    	{
-    		move = new Move(Move.MoveType.TRAVEL, 10, 0, false);
-    		motionUpdate(move);
-    		sensorUpdate(600);
-    	}
-
-		move = new Move(Move.MoveType.TRAVEL, 100, 0, false);
-    	motionUpdate(move);
-    	sensorUpdate(600);
-    	
-		move = new Move(Move.MoveType.TRAVEL, 10, 0, false);
-    	motionUpdate(move);
-    	sensorUpdate(400);
-    	
-		move = new Move(Move.MoveType.TRAVEL, 10, 0, false);
-    	motionUpdate(move);
-    	sensorUpdate(400);
-    	    	
-    	Pose p = particles.getPose();
-		System.out.println("Position "+p.getX()+" "+p.getY()+" "+p.getHeading());
-		System.out.println("Accuracy "+ particles.getSigmaX()+ " "+ particles.getSigmaY()+" "+particles.getSigmaHeading());
-		*/
-    	
     }
     
     public static void main (String [] args)