Monitoring sensor values

Sensor values can be monitored in two different ways in Robotics API applications:

• Reading the current Sensor measurment once via Sensor#getCurrentValue().
• Registering for regular updates of Sensor measurements via Sensor#addListener(..).

The first way should be used when the sensor value is needed only once, as this method is expensive to call. In all other cases, a SensorListener should be registered as indicated above. In this case, the listener is called each time the sensor measurement changes (up to a certain frequency).

In case an application needs to register a large amount of listeners for various sensors, the listeners should be collected and registered by one or few calls to RoboticsRuntime#addSensorListeners(..).

When a SensorListener is not needed anymore (ultimately when an application terminates), it should be unregistered by calling Sensor#removeListener(..).