Finch Robot Arrays

Pepper

Light Sensor

• getLightSensors()• It will return an array of 2 integers with:– Left sensor in 0 – Right sensor in 1

• Possible array; Left Right Meaning

80 40 Right eye is getting less light

20 80 Left eye is getting less light

40 40 Both get the same light

Access Light Sensor array

• Make a variable of integer array type to hold the response:

int[ ] lights ;• Call the getLightSensors() method to retrieve

the array: lights = myFinch.getLightSensors();

• Access the value:–lights[0]; //gets left value–lights[1]; // gets right value

0 1

80 40

Obstacle Sensor

• getObstacleSensors()• It will return an array of 2 booleans with:– Left sensor in 0 – Right sensor in 1

• Possible array; Left Right Meaning

False true Left side only sees obstacle

True False Right side only sees obstacle

False False No obstacles

True True Both sides see an obstacle

Access Obstacle Sensor array

• Make a variable of boolean array type to hold the response:

boolean[ ] obs;• Call the getObstacleSensors() method to

retrieve the array: obs= myFinch.getObstacleSensors();

• Access the value:–obs[0]; //gets left value–obs[1]; // gets right value

0 1

80 40

Summary• Two commands for retrieving sensor array from

the Finch: – getObstacleSensors()– getLightSensors()– Both put left in 0 index and right in 1 index– Obstacle returns boolean and light returns int– Create an array to hold the response

• Int[ ] or boolean[ ] arrayname– Call the method to fill the array setting your array

variable = the method call– Read the result as arrayname[index]