Partical swarm - working with sensor readings

Lesson11/Programs/PilotRoute/src/PilotRoute.java

@@ -7,7 +7,7 @@ public class PilotRoute
     private SlaveIOStreams PC;
     private double distFactor = 0.99;
     private double wheelDiameterL = 5.595*distFactor, wheelDiameterR = 5.6*distFactor, trackWidth = 16.27;
-	private double travelSpeed = 20, rotateSpeed = 45;
+	private double travelSpeed = 5, rotateSpeed = 45;
 	private NXTRegulatedMotor left = Motor.B;
 	private NXTRegulatedMotor right = Motor.C;
 	private LightSensor lightsensor = new LightSensor(SensorPort.S4);
@@ -26,7 +26,7 @@ public class PilotRoute
 	private void sendMove(Move move)
 	{	
 		PC.output((move.getMoveType() == Move.MoveType.TRAVEL? 0:1 ));
-		PC.output(move.getDistanceTraveled());
+		PC.output(move.getDistanceTraveled() * 10);
 		PC.output(move.getAngleTurned());
 	}
 	
@@ -53,25 +53,25 @@ public class PilotRoute
 		while ( ! Button.ENTER.isDown()) Thread.yield();
 		Sound.twoBeeps();
 		
-		for(int i=0;i<30;i++)
+		for(int i=0;i<15;i++)
 		{
-			travel(5);
-			sendLightValue(400);
+			travel(1);
+			sendLightValue(lightsensor.getLightValue());
 		}
-		for(int i=0;i<10;i++)
+		for(int i=0;i<5;i++)
 		{
-			travel(5);
-			sendLightValue(600);
+			travel(1);
+			sendLightValue(lightsensor.getLightValue());
 		}
-		for(int i=0;i<10;i++)
+		for(int i=0;i<5;i++)
 		{
-			travel(5);
-			sendLightValue(400);
+			travel(1);
+			sendLightValue(lightsensor.getLightValue());
 		}
-		for(int i=0;i<10;i++)
+		for(int i=0;i<5;i++)
 		{
-			travel(5);
-			sendLightValue(600);
+			travel(1);
+			sendLightValue(lightsensor.getLightValue());
 		}
 		
 		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

@@ -92,12 +92,11 @@ public class RobotMonitor
     
     public void goSimulation()
     {
-    	for ( int i=0; i < 60; i++)
+    	for ( int i=0; i < 30; i++)
     	{
     		motionUpdate(getMove());
     		sensorUpdate(getSensorValue());
     	}
-    	
     }
     
     public static void main (String [] args)