SensorActuatorConnection.java

import lejos.nxt.*;import lejos.util.*;public class SensorActuatorConnection extends Thread implements TimerListener{	private RCXLightSensor m_sensorInterface = null;	private MotorPort[] m_motorAbstraction = null;	private DataLogger m_dlSensor = null;	private DataLogger m_dlMotor = null;	private final int m_low = 68;	private final int m_lowMotor = 50;	private final int m_high = 80;	private final int m_highMotor = 100;	private int m_sensorResult = 0;	private int m_motorPower = 0;	private Timer m_timer = null;	public SensorActuatorConnection(RCXLightSensor sensorInterface, MotorPort[] actuatorAbstraction, String fileFix)	{		m_sensorInterface = sensorInterface;		m_motorAbstraction = actuatorAbstraction;		m_dlSensor = new DataLogger("dlS-" + fileFix + ".txt");		m_dlMotor = new DataLogger("dlM-" + fileFix + ".txt");		m_timer = new Timer(100, this);	}      public void timedOut()	{		m_dlSensor.writeSample(m_sensorResult);		m_dlMotor.writeSample(m_motorPower);	}		public void run()	{		m_sensorInterface.activate();				while(!Thread.currentThread().isInterrupted())		{			LCD.clear();			m_sensorResult = m_sensorInterface.readValue();			LCD.drawString("Sensorinput: ", 0,0);			LCD.drawInt(m_sensorResult,0,1);						m_motorPower = ( ( ( (100 - m_sensorResult) - m_low ) * (m_highMotor - m_lowMotor) )/(m_high - m_low)) + m_lowMotor;						LCD.drawString("Motoroutput: ", 0,2);			LCD.drawInt(m_motorPower,0,3);			LCD.refresh();			for(int i = 0; i < m_motorAbstraction.length; i++)				m_motorAbstraction[i].controlMotor(m_motorPower,1 /* = forward */);			try {			Thread.sleep(10);			}			catch(InterruptedException ex){}		}				m_dlSensor.close();		m_dlMotor.close();	}}