El sensor ahora devuelve valor binario (0 si no tiene nada adelante, 1 si sí tiene).

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index 0d3ced587cacca4ef9423e8ded196509940c7ddf..ce5d5112d89dba363597fbd19b494f2bf2d0b2c7 100644 (file)
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -211,10 +211,10 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                return (fSensor get-sensor-value).\r
 \r
        +to update-entorno:\r
-               entorno{"sensor_f"} = (fSensor get-data).\r
-               entorno{"sensor_b"} = (bSensor get-data).\r
-               entorno{"sensor_r"} = (rSensor get-data).\r
-               entorno{"sensor_l"} = (lSensor get-data).\r
+               entorno{"sensor_f"} = (fSensor get-sensor-value).\r
+               entorno{"sensor_b"} = (bSensor get-sensor-value).\r
+               entorno{"sensor_r"} = (rSensor get-sensor-value).\r
+               entorno{"sensor_l"} = (lSensor get-sensor-value).\r
                entorno{"movido"} = 0. # TODO\r
                sa update-entorno with entorno.            \r
 \r
@@ -523,6 +523,11 @@ Link : CeldasSensor (aka CeldasSensors) {
                % Gets the sensor value. This should be used from post-iterate,\r
                % if not, the sensor reading correspond to the previous\r
                % iteration.\r
+               val (float).\r
+\r
+               val = self get-data.\r
+               if (val > 10): return 0.\r
+               else           return 1.\r
         \r
         #+ to iterate:\r
         \r