Baseline LeJOS superoptimization experimentation code

BenchmarkTest.java

import lejos.nxt.*;

public class BenchmarkTest
    extends CommonNXTTests
{
    public static void main( String[] args )
        throws Exception
    {
        //variables
        LightSensor lightSensor = new LightSensor( SensorPort.S1 );
        int reading = 0;
        int checkValue = ( lightSensor.getHigh() - lightSensor.getLow() ) / 2 + lightSensor.getLow();

        //constants
        final String appName = "Benchmark App";

        calibrateLightSensors( appName, lightSensor );
        calibrateMotors( Motor.B, Motor.C );

        while ( !Button.LEFT.isPressed() )
        {
            reading = lightSensor.readNormalizedValue();
            displayMainInformation( appName, lightSensor, reading, checkValue );

            // superoptimised function start
            if ( reading > ( ( lightSensor.getHigh() + lightSensor.getLow() )  / 2 ) )  { Motor.B.forward();Motor.C.forward(); } else { Motor.B.forward();Motor.C.stop(); }
            // superoptimized function stop
        }
    }        
}

CommonNXTTests.java

import lejos.nxt.*;

public class CommonNXTTests
{
    protected static int DEFINED_POWER = 67;
    private static String EMPTY_STRING = "";

    protected static void calibrateMotors( Motor bMotor, Motor cMotor )
    {
        bMotor.regulateSpeed( false );
        cMotor.regulateSpeed( false );
        
        bMotor.setPower( DEFINED_POWER );
        cMotor.setPower( DEFINED_POWER );
        
        Motor.B.forward();
        Motor.C.forward();
    }

    protected static void calibrateLightSensors( String appName, LightSensor lightSensor ) throws Exception
    {
        while ( !Button.LEFT.isPressed() )
        {
            LCD.drawString( "AJ:" + appName, 0, 0 );
            LCD.drawString( "Calibrate Black" + EMPTY_STRING, 0, 1 );
            LCD.drawString( lightSensor.readNormalizedValue() + "", 0, 2 );
            LCD.drawString( "Press LEFT Key" + EMPTY_STRING, 0, 3 );
            LCD.refresh();
        }
        lightSensor.calibrateHigh();
        pauseDisplay();

        while ( !Button.LEFT.isPressed() )
        {
            LCD.drawString( "AJ:" + appName, 0, 0 );
            LCD.drawString( "Calibrate White" + EMPTY_STRING, 0, 1 );
            LCD.drawString( lightSensor.readNormalizedValue() + "", 0, 2 );
            LCD.drawString( "Press LEFT Key" + EMPTY_STRING, 0, 3 );
            LCD.refresh();
        }
        lightSensor.calibrateLow();
        pauseDisplay();
    }

    private static void pauseDisplay()
        throws Exception
    {
        LCD.clear();
        LCD.drawString( "Please Wait..." + EMPTY_STRING, 0, 0 );
        LCD.refresh();
        Thread.sleep( 1000 );
        LCD.clear();
    }

    protected static int calculateCheckValue( LightSensor lightSensor )
    {
        int checkValue = 0;

        checkValue = ( lightSensor.getHigh() - lightSensor.getLow() ) >> 2;
        checkValue += lightSensor.getLow();

        return checkValue;
    }

    protected static void displayMainInformation( String appName, LightSensor lightSensor, int reading, int checkValue )
    {
        LCD.drawString( "AJ:" + appName, 0, 0 );
        LCD.drawString( "Value: " + lightSensor.readNormalizedValue(), 0, 1 );
        LCD.drawString( "Low: " + lightSensor.getLow(), 0, 2 );
        LCD.drawString( "High: " + lightSensor.getHigh(), 0, 3 );
        LCD.drawString( "Instructions: " + System.getProgramExecutionsCount(), 0, 4 );
        LCD.drawString( "Time: " + (int) System.currentTimeMillis() + " ms", 0, 5 );
        LCD.drawString( "Dir: " + ( ( reading > checkValue ) ? ( "Straight" ) : ( "Turning " ) ), 0, 6 );
        LCD.drawString( "Push LEFT to exit" + EMPTY_STRING, 0, 7 );
        LCD.refresh();
    }
}