BBB 0.2.0 → 0.3.0

checksums.yaml

@@ -1,15 +1,15 @@
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data/examples/analog_pin.rb

@@ -1,10 +1,9 @@
-#
 # To run this example do this first:
 #
 # Make sure you run as root
 # > sudo su
 #
-# Install BBB gem version 0.0.9 or higher
+# Install BBB gem
 # > gem install BBB
 #
 # Then activate the ADC using the cape
@@ -23,8 +22,8 @@ require 'BBB'
 ##
 # Setup the actual Applicaiton
 #
-class TemperatureExampleApp < BBB::Application
-  attach BBB::Components::AnalogComponent, as: :thermometer
+class Thermometer < BBB::Application
+  attach AnalogComponent, as: :thermometer
 
   def initialize
     thermometer.connect(:P9_40)
@@ -37,5 +36,4 @@ class TemperatureExampleApp < BBB::Application
 end
 
 # Initialize the app
-app = TemperatureExampleApp.new
-app.start
+TemperatureExampleApp.new.start if __FILE__ == $0

data/examples/{led.rb → blinker.rb}

@@ -3,7 +3,7 @@ require 'BBB'
 ##
 # Setup the actual Application
 #
-class LedExampleApplication < BBB::Application
+class Blinker < BBB::Application
   # Connect the led
   attach BBB::Components::Led, as: :led
 
@@ -21,5 +21,4 @@ class LedExampleApplication < BBB::Application
 end
 
 # Initialize and run the LedExampleApplication
-app = LedExampleApplication.new
-app.start
+Blinker.new.start if __FILE__ == $0

data/examples/ldr_light_switch.rb

@@ -1,16 +1,15 @@
-#
 # To run this example do this first:
 #
 # Make sure you run as root
 # > sudo su
 #
-# Install BBB gem version 0.0.9 or higher
+# Install BBB gem
 # > gem install BBB
 #
 # Then activate the ADC using the cape
 # > echo cape-bone-iio > /sys/devices/bone_capemgr.*/slots
 #
-# No open up an IRB console and copy paste in this code
+# Now open up an IRB console and copy paste in this code
 # > irb
 #
 # BE CAREFUL:
@@ -20,30 +19,26 @@
 #
 require 'BBB'
 
-##
-# Setup the AnalogPin Circuit
-#
-class Circuit < BBB::Circuit
-  def initialize
-    # Attach temperature sensor to pin P9_40
-    attach BBB::Components::AnalogComponent, pin: :P9_40, as: :ldr
-    attach BBB::Components::Led, pin: :P8_10, as: :led
-  end
-end
-
 ##
 # Setup the actual Applicaiton
 #
-class LightSwitch < BBB::Application
-  # Run this on the BeagleBoneBlack
-  board BBB::Board::Base.new
+class LDRLightSwitch < BBB::Application
+  attr_accessor :threshold
+
+  attach AnalogComponent, as: :ldr
+  attach Led, as: :led
 
-  # Connect the circuit to the board
-  circuit Circuit.new
+  def initialize
+    threshold = 70
+
+    ldr.connect(:P9_40)
+    led.connect(:P8_10)
+    led.off!
+  end
 
   # This is the basic run loop
   def run
-    if ldr.read < 70
+    if ldr.read < threshold
       led.on!
     else
       led.off!
@@ -52,5 +47,4 @@ class LightSwitch < BBB::Application
 end
 
 # Initialize the app
-app = LightSwitch.new
-app.start
+LDRLightSwitch.new.start if __FILE__ == $0

data/examples/light_switch.rb

@@ -1,51 +1,28 @@
 require_relative '../lib/BBB'
 
 class LightSwitch < BBB::Application
-  attach BBB::Components::Led, as: :led
-  attach BBB::Components::Button, as: :button
+  attach Led,    as: :led
+  attach Button, as: :button
 
   def initialize
     led.connect(:P8_10)
     button.connect(:P8_19)
 
-    puts "Press the button to switch the light"
     led.on!
-    read_button_state
-  end
-
-  def run
-    read_button_state
 
-    if current_button_state != last_button_state
-      if current_button_state == :high
-        if led.on?
-          led.off!
-        else
-          led.on!
-        end
-      end
-      store_button_state
+    button.on_press do
+      led.toggle!
     end
   end
 
-  private
-
-  def read_button_state
-    @button_state = button.state
-  end
-
-  def current_button_state
-    @button_state
-  end
-
-  def last_button_state
-    @last_button_state
+  def start
+    puts "Press the button to switch the light"
+    super
   end
 
-  def store_button_state
-    @last_button_state = @button_state
+  def run
+    button.update
   end
 end
 
-LightSwitch.new.start
-
+LightSwitch.new.start if __FILE__==$0

data/examples/{nunchuck.rb → nunchuck_websocket.rb}

@@ -3,14 +3,12 @@ require 'sinatra-websocket'
 
 require 'BBB'
 
-class Circuit < BBB::Circuit
+class NunchuckService < BBB::Application
+  attach Nunchuck, as: :nunchuck
+
   def initialize
-    attach BBB::Components::Nunchuck, pin: "/dev/i2c-2", as: :nunchuck
+    nunchuck.connect("/dev/i2c-2")
   end
-end
-
-class NunchuckService < BBB::Application
-  circuit Circuit.new
 
   def start
     Thread.new do
@@ -18,15 +16,17 @@ class NunchuckService < BBB::Application
         nunchuck.update
       end
     end
-    self
+    return self
   end
 
   def add_socket(socket)
-    pressed = lambda { |value| socket.send("{c: 'pressed'}") }
-    released = lambda { |value| socket.send("{c: 'released'}") }
+    nunchuck.c.on_release do
+      socket.send("{c: 'released'}")
+    end
 
-    nunchuck.c.release_callbacks << pressed
-    nunchuck.c.press_callbacks << released
+    nunchuck.c.on_press do
+      socket.send("{c: 'pressed'}")
+    end
   end
 
 end
@@ -34,7 +34,7 @@ end
 class NunchuckServer < Sinatra::Base
   set :server, 'thin'
   set :sockets, []
-  set :nunchuck, NunchuckService.new.start
+  set :nunchuck, NunchuckService.new
   enable :inline_templates
 
   get '/' do
@@ -50,7 +50,7 @@ class NunchuckServer < Sinatra::Base
         end
 
         ws.onclose do
-          warn("wetbsocket closed")
+          warn("websocket closed")
           settings.sockets.delete(ws)
         end
       end

data/examples/quadcopter.rb

@@ -0,0 +1,77 @@
+require 'bbb'
+
+##
+# This is merely a design file. It doesn't work this way yet and functions
+# merely as a way to sketch out how it should work
+#
+class Quadcopter < BBB::Application
+
+  ##
+  # Load 4 ESCs, left-front (lf), right-front (rf), left-back (lb) and
+  # right-back(rb).
+  #
+  # We define them in clockwise order starting front-left, in order to have the
+  # array of escs constructed in a way that we can find them later on.
+  #
+  attach ESC, pins: [:P8_13, :P9_3], as: :esc_lf, group: :escs
+  attach ESC, pins: [:P9_14, :P9_2], as: :esc_rf, group: :escs
+  attach ESC, pins: [:P9_42, :P9_2], as: :esc_rb, group: :escs
+  attach ESC, pins: [:P9_21, :P9_2], as: :esc_lb, group: :escs
+
+  attach Led, pin: :P8_6, as: :power_indicator
+
+  ##
+  # Connect the WMP with the nunchuck as extension
+  #
+  attach WMP, i2c: "BB-I2C1", as: :wmp, extension: "nunchuck"
+
+  attr_reader :stabilizer
+
+  def initialize
+    @stabilizer = Stabilizer.new(escs: escs,
+                                 gyro: gyro,
+                                 accelerometer: acc)
+  end
+
+  def gyro
+    wmp.gyro
+  end
+
+  def acc
+    #wmp.nunchuck.accelerometer
+  end
+
+  def fly_mode
+    stabilizer.mode
+  end
+
+  ##
+  # Once start is called the run function will be called in a loop
+  #
+  def run
+    stabilizer.update
+  end
+end # Copter
+
+class Stabilizer
+  attr_reader :escs, :gyro, :accelerometer
+  attr_reader :mode
+
+  def initialize(opts={})
+    @escs          = opts[:escs]
+    @gyro           = opts[:gyro]
+    @accelerometer = opts[:accelerometer]
+    @mode = :hover
+  end
+
+  def hover
+    @mode = :hover
+  end
+
+  def update
+    # Do someting complex with all the components
+    # and update all values
+  end
+end #Stabilizer
+
+Quadcopter.new.start if __FILE__ == $0

data/examples/servo_ldr.rb

@@ -1,35 +1,125 @@
 require 'BBB'
 
+##
+# An application where you mount an LDR to a servo. The servo will then turn
+# towards the light. The idea for this application is that you, for example, use
+# a servo to steer a small robot. When you then mount an LDR to the front of the
+# robot, it will drive towards the light.
+#
+# The light finding algorithm could be much more sophisticaded, using several
+# past measurements etc. etc. But you probably get the gist. Try for example to
+# implement changes in the step_size over time.
+#
+#
 class LDRServo < BBB::Application
-  attr_accessor :min, :max
+  attr_accessor :angle
+  attr_writer :previous_value
+
+  attr_reader :direction
 
   attach Servo, as: :servo
   attach AnalogComponent, as: :ldr
 
-  def initialize(min, max)
-    @min = min
-    @max = max
-  end
-
-  def activate_components
+  def initialize
     servo.connect(:P8_13)
     ldr.connect(:P9_40)
   end
 
   def run
-    servo.angle(angle)
+    current_value = ldr.read
+
+    ##
+    # This means we're moving away from the lightest point.
+    # So reverse.
+    #
+    if current_value < previous_value
+      reverse_direction
+    end
+
+    ##
+    # If the previous value is identical to the current_value we actually
+    # might've found the brightest spot, so keep on going where you're going.
+    # However, let's say the robot is in a dark room, and you turn on the lights
+    # above, and the whole room has equal light. If at that moment, the servo is
+    # positioned at an angle, it'll keep on making rounds.
+    #
+    # If you use this example to drive a robot, you're most probably driving at
+    # an angle, which means the value will change and the robot will start
+    # correcting itself. Reducing the angle, untill you're driving straigt to
+    # the light. (or at least a local optimum)
+    #
+    #require 'pry'; binding.pry
+    unless current_value == previous_value
+      self.angle = angle + (step * direction)
+      servo.angle(angle)
+    end
+
+    previous_value = current_value
+
+    return nil
   end
 
-  def range
-    max - min
+
+  ##
+  # In this example we use a static step of 2 degrees. Which allows for smooth
+  # movement when making small adjustment, and still it's quite fast when having
+  # to make large adjustments.
+  #
+  # It could be interesting to play with the step size depending op previous
+  # measurements.
+  #
+  def step
+    2
   end
 
+  ##
+  # Basic servo's can move about 120 degrees. So we'll initialize the angle to
+  # 60 degrees. Which is probably straight ahead on a moving robot.
+  #
   def angle
-    (ldr.value - min) / range.to_f * 180
+    @angle ||= 60
   end
 
-end
+  ##
+  # Make sure the angle doesn't go out of the servo range. If it does, set it to
+  # the minimum (0) or the maximum (120)
+  #
+  def angle=(value)
+    if(0..120).include?(value)
+      @angle = value
+    else
+      @angle = value > 0 ? max_servo_angle : min_servo_angle
+    end
+  end
 
-app = LDRServo.new(0,180)
-app.angle(120)
+  ##
+  # We define 1 as going to the right, and -1 as going to the left.
+  # Combined with a positive step this means that if the direction is 1, we're
+  # moving more towards the right, and -1 we're moving more towards the left.
+  #
+  # (you can also read up/ down here instead of left / right, it all depends on
+  # the way you mount your servo)
+  #
+  def direction
+    @direction ||= 1
+  end
+
+  def reverse_direction
+    @direction = direction * -1
+  end
+
+  def previous_value
+    @previous_value ||= ldr.read
+  end
+
+  def min_servo_angle
+    @min_servo_angle ||= 0
+  end
+
+  def max_servo_angle
+    @max_servo_angle ||= 120
+  end
+
+end
 
+LDRServo.new.start if __FILE__ == $0