artoo-arduino 1.0.0.pre

checksums.yaml

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+---
+SHA1:
+  metadata.gz: 8a614efd769cd7695db5bb044c4ab4fa6dbdaf6d
+  data.tar.gz: d32fa41b3f9af38945542a34a43eb808e49e67cd
+SHA512:
+  metadata.gz: 821c652fde64fa4733212924a7e7690ca464f708ea5b60078df52d9ef0617b88908c0f01e4e1dfecf3be70a23f283b5ad7f27e8a6f30ab708a280fa2fe29de83
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data/.gitignore

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+.rvmrc
+.rbx
+pkg

data/.rvmrc.example

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+rvm use rbx-2.0.0-rc1@artoo-arduino --create

data/.travis.yml

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+language: ruby
+rvm:
+  - 2.0.0
+  - 1.9.3
+  - jruby-19mode
+  - rbx-19mode

data/Gemfile

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+source "http://rubygems.org"
+
+# Specify your gem's dependencies in artoo-sphero.gemspec
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    artoo-arduino (1.0.0.pre)
+      artoo (~> 1.0.0.pre)
+      hybridgroup-firmata (~> 0.4.0)
+
+GEM
+  remote: http://rubygems.org/
+  specs:
+    artoo (1.0.0.pre)
+      celluloid (~> 0.14.0)
+      celluloid-io (~> 0.14.0)
+      multi_json (~> 1.6)
+      pry (~> 0.9)
+      rake (~> 10.0)
+      reel (~> 0.4.pre)
+    celluloid (0.14.0)
+      timers (>= 1.0.0)
+    celluloid-io (0.14.0)
+      celluloid (>= 0.13.0)
+      nio4r (>= 0.4.5)
+    certified (0.1.1)
+    coderay (1.0.9)
+    event_spitter (0.5.0)
+    http (0.4.0)
+      certified
+      http_parser.rb
+    http_parser.rb (0.5.3)
+    hybridgroup-firmata (0.4.0)
+      event_spitter
+    metaclass (0.0.1)
+    method_source (0.8.1)
+    minitest (5.0.1)
+    minitest-happy (1.0.0)
+    mocha (0.14.0)
+      metaclass (~> 0.0.1)
+    multi_json (1.7.3)
+    nio4r (0.4.5)
+    pry (0.9.12.2)
+      coderay (~> 1.0.5)
+      method_source (~> 0.8)
+      slop (~> 3.4)
+    rack (1.5.2)
+    rake (10.0.4)
+    reel (0.4.0.pre)
+      celluloid-io (>= 0.8.0)
+      http (>= 0.2.0)
+      http_parser.rb (>= 0.5.3)
+      rack (>= 1.4.0)
+      websocket_parser (>= 0.1.2)
+    slop (3.4.5)
+    timers (1.1.0)
+    websocket_parser (0.1.4)
+      http
+
+PLATFORMS
+  ruby
+
+DEPENDENCIES
+  artoo-arduino!
+  minitest (~> 5.0)
+  minitest-happy
+  mocha (~> 0.14.0)

data/LICENSE

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+Copyright (c) 2012, 2013 The Hybrid Group
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

data/README.md

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+# Artoo Adaptor For Arduino
+
+This repository contains the Artoo (http://artoo.io/) adaptor and drivers for the Arduino microcontroller using the firmata protocol.
+
+Artoo is a open source micro-framework for robotics using Ruby.
+
+For more information abut Artoo, check out our repo at https://github.com/hybridgroup/artoo
+
+[![Code Climate](https://codeclimate.com/github/hybridgroup/artoo-arduino.png)](https://codeclimate.com/github/hybridgroup/artoo-arduino) [![Build Status](https://travis-ci.org/hybridgroup/artoo-arduino.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-arduino)
+
+## Installing
+
+```
+gem install artoo-arduino
+```

data/Rakefile

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+require 'bundler'
+Bundler::GemHelper.install_tasks
+
+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  t.pattern = "test/**/*_test.rb"
+end
+
+task :default => :test

data/artoo-arduino.gemspec

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+# -*- encoding: utf-8 -*-
+$:.push File.expand_path("../lib", __FILE__)
+require "artoo-arduino/version"
+
+Gem::Specification.new do |s|
+  s.name        = "artoo-arduino"
+  s.version     = Artoo::Arduino::VERSION
+  s.platform    = Gem::Platform::RUBY
+  s.authors     = ["Ron Evans", "Adrian Zankich"]
+  s.email       = ["artoo@hybridgroup.com"]
+  s.homepage    = "https://github.com/hybridgroup/artoo-arduino"
+  s.summary     = %q{Artoo adaptor and driver for Arduino}
+  s.description = %q{Artoo adaptor and driver for Arduino}
+
+  s.rubyforge_project = "artoo-arduino"
+
+  s.files         = `git ls-files`.split("\n")
+  s.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")
+  s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
+  s.require_paths = ["lib"]
+
+  s.add_runtime_dependency 'artoo', '~> 1.0.0.pre'
+  s.add_runtime_dependency 'hybridgroup-firmata', '~> 0.4.0'
+  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '~> 0.14.0'
+end

data/examples/button_and_led.rb

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+require 'artoo'
+
+connection :arduino, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :led, :driver => :led, :pin => 13
+device :button, :driver => :button, :pin => 2
+
+work do
+  on button, :push => proc {led.toggle}
+end

data/examples/firmata.rb

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+require 'artoo'
+
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :board
+device :led, :driver => :led, :pin => 13
+
+work do
+  puts "Firmware name #{board.firmware_name}"
+  puts "Firmata version #{board.version}"
+  every 1.second do
+    led.toggle
+  end
+end

data/lib/artoo-arduino.rb

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+require 'lib/artoo/adaptors/firmata'
+
+require 'lib/artoo/drivers/ardrone'
+require 'lib/artoo/drivers/ardrone_navigation'
+require 'lib/artoo/drivers/ardrone_video'
+
+require 'lib/artoo-arduino/version'

data/lib/artoo-arduino/version.rb

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+module Artoo
+  module Arduino
+    VERSION = '1.0.0.pre'
+  end
+end

data/lib/artoo/adaptors/firmata.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to Arduino using Firmata
+    # @see http://rubydoc.info/gems/hybridgroup-firmata/0.3.0/Firmata/Board HybridGroup Firmata Documentation
+    class Firmata < Adaptor
+      attr_reader :firmata
+
+      # Creates connection with firmata board
+      # @return [Boolean]
+      def connect
+        require 'firmata' unless defined?(::Firmata)
+        @firmata = ::Firmata::Board.new(connect_to)
+        @firmata.connect
+        super
+        return true
+      end
+
+      # Closes connection with firmata board
+      # @return [Boolean]
+      def disconnect
+        super
+      end
+
+      # Uses method missing to call Firmata Board methods
+      # @see http://rubydoc.info/gems/hybridgroup-firmata/0.3.0/Firmata/Board Firmata Board Documentation
+      def method_missing(method_name, *arguments, &block)
+        firmata.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/button.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Button driver behaviors for Firmata
+    class Button < Driver
+      COMMANDS = [:is_pressed?].freeze
+
+      DOWN = 1
+      UP = 0
+
+      # @return [Boolean] True if pressed
+      def is_pressed?
+        (@is_pressed ||= false) == true
+      end
+
+      # Sets values to read and write from button
+      # and starts driver
+      def start_driver
+        connection.set_pin_mode(pin, Firmata::Board::INPUT)
+        connection.toggle_pin_reporting(pin)
+
+        every(interval) do
+          connection.read_and_process
+          handle_events
+        end
+
+        super
+      end
+
+      def handle_events
+        while i = find_event("digital-read-#{pin}") do
+          update(events.slice!(i).data.first)
+        end
+      end
+
+      def find_event(name)
+        events.index {|e| e.name == name}
+      end
+
+      def events
+        connection.async_events
+      end
+
+      # Publishes events according to the button feedback
+      def update(value)
+        if value == DOWN
+          @is_pressed = true
+          publish(event_topic_name("update"), "push", value)
+          publish(event_topic_name("push"), value)
+        else
+          @is_pressed = false
+          publish(event_topic_name("update"), "release", value)
+          publish(event_topic_name("release"), value)
+        end
+      end
+    end
+  end
+end

data/lib/artoo/drivers/led.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The LED driver behaviors
+    class Led < Driver
+
+      COMMANDS = [:on, :off, :toggle, :brightness].freeze
+
+      # @return [Boolean] True if on
+      def is_on?
+        (@is_on ||= false) == true
+      end
+
+      # @return [Boolean] True if off
+      def is_off?
+        (@is_on ||= false) == false
+      end
+
+      # Sets led to on status
+      def on
+        @is_on = true
+        connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
+        connection.digital_write(pin, Firmata::Board::HIGH)
+      end
+
+      # Sets led to off status
+      def off
+        @is_on = false
+        connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
+        connection.digital_write(pin, Firmata::Board::LOW)
+      end
+
+      # Toggle status
+      # @example on > off, off > on
+      def toggle
+        is_off? ? on : off
+      end
+
+      # Change brightness level
+      # @param [Integer] level
+      def brightness(level=0)
+        connection.set_pin_mode(pin, Firmata::Board::PWM)
+        connection.analog_write(pin, level)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/motor.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # L293 or other H-bridge style motor driver behaviors for Firmata
+    class Motor < Driver
+      COMMANDS = [:forward, :backward, :stop, :speed, :current_speed].freeze
+
+      attr_reader :leg1_pin, :leg2_pin, :speed_pin, :current_speed
+
+      # Create new Motor
+      def initialize(params={})
+        super
+
+        raise "Invalid pins, please pass an array in format [leg1, leg2, speed]" unless (pin && pin.is_a?(Array) && pin.size == 3)
+        @leg1_pin = pin[0]
+        @leg2_pin = pin[1]
+        @speed_pin = pin[2]
+        @current_speed = 0
+      end
+
+      # Starts connection to read and process and driver
+      def start_driver
+        every(interval) do
+          connection.read_and_process
+        end
+
+        super
+      end
+
+      # Sets movement forward
+      # @param [Integer] s speed
+      def forward(s)
+        set_legs(Firmata::Board::LOW, Firmata::Board::HIGH)
+        speed(s)
+      end
+
+      # Sets movement backward
+      # @param [Integer] s speed
+      def backward(s)
+        set_legs(Firmata::Board::HIGH, Firmata::Board::LOW)
+        speed(s)
+      end
+
+      # Stops
+      def stop
+        speed(0)
+      end
+
+      # Set motor speed
+      # @param [Integer] s speed (must be an integer between 0-255)
+      def speed(s)
+        raise "Motor speed must be an integer between 0-255" unless (s.is_a?(Numeric) && s >= 0 && s <= 255)
+        @current_speed = s
+        connection.set_pin_mode(speed_pin, Firmata::Board::PWM)
+        connection.analog_write(speed_pin, s)
+      end
+
+      private
+
+      def set_legs(l1, l2)
+        connection.set_pin_mode(leg1_pin, Firmata::Board::OUTPUT)
+        connection.digital_write(leg1_pin, l1)
+        connection.set_pin_mode(leg2_pin, Firmata::Board::OUTPUT)
+        connection.digital_write(leg2_pin, l2)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/servo.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Servo behaviors for Firmata
+    class Servo < Driver
+      COMMANDS = [:move, :min, :center, :max].freeze
+
+      attr_reader :current_angle
+
+      # Create new Servo with angle=0
+      def initialize(params={})
+        super
+
+        @current_angle = 0
+      end
+
+      # Starts connection to read and process and driver
+      def start_driver
+        every(interval) do
+          connection.read_and_process
+        end
+
+        super
+      end
+
+      # Moves to specified angle
+      # @param [Integer] angle must be between 0-180
+      def move(angle)
+        raise "Servo angle must be an integer between 0-180" unless (angle.is_a?(Numeric) && angle >= 0 && angle <= 180)
+
+        @current_angle = angle
+        connection.set_pin_mode(pin, Firmata::Board::SERVO)
+        connection.analog_write(pin, angle_to_span(angle))
+      end
+
+      # Moves to min position
+      def min
+        move(0)
+      end
+
+      # Moves to center position
+      def center
+        move(90)
+      end
+
+      # Moves to max position
+      def max
+        move(180)
+      end
+
+      # converts an angle to a span between 0-255
+      # @param [Integer] angle
+      def angle_to_span(angle)
+        (angle * 255 / 180).to_i
+      end
+    end
+  end
+end

data/lib/artoo/drivers/wiichuck.rb

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+require 'artoo/drivers/wiidriver'
+
+module Artoo
+  module Drivers
+    # Wiichuck driver behaviors for Firmata
+    class Wiichuck < Wiidriver
+
+      # Update button and joystick values
+      # @param [Object] value
+      def update(value)
+        begin
+          super
+
+          adjust_origins
+          update_buttons
+          update_joystick
+
+        rescue Exception => e
+          Logger.error "wiichuck update exception!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Adjust x, y origin values
+      def adjust_origins
+        set_joystick_default_value(:sy_origin, data[:sy])
+        set_joystick_default_value(:sx_origin, data[:sx])
+      end
+
+      # Publishes events for c and z buttons
+      def update_buttons
+        publish(event_topic_name("c_button")) if data[:c] == true
+        publish(event_topic_name("z_button")) if data[:z] == true
+      end
+
+      # Publishes event for joystick
+      def update_joystick
+        publish(event_topic_name("joystick"), {:x => calculate_joystick_value(:sx, :sx_origin), :y => calculate_joystick_value(:sy, :sy_origin)})
+      end
+
+      private
+
+      def get_defaults
+        {
+          :sy_origin => nil,
+          :sx_origin => nil
+        }
+      end
+
+      def parse(value)
+        return {
+          :sx => decode_value(value, 0),
+          :sy => decode_value(value, 1),
+          :z => generate_bool(decode_value(value, 5) & 0x01),
+          :c => generate_bool(decode_value(value, 5) & 0x02)
+        }
+      end
+    end
+  end
+end

data/lib/artoo/drivers/wiiclassic.rb

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+require 'artoo/drivers/wiidriver'
+
+module Artoo
+  module Drivers
+    # Wiiclassic driver behaviors for Firmata
+    class Wiiclassic < Wiidriver
+
+      # Update buttons and joysticks values
+      # @param [Object] value
+      def update(value)
+        begin
+          super
+
+          adjust_origins
+          update_buttons
+          update_left_joystick
+          update_right_joystick
+          update_triggers
+
+        rescue Exception => e
+          Logger.error "wiiclassic update exception!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Adjust all origins
+      def adjust_origins
+        set_joystick_default_value(:ly_origin, data[:ly])
+        set_joystick_default_value(:lx_origin, data[:lx])
+        set_joystick_default_value(:ry_origin, data[:ry])
+        set_joystick_default_value(:rx_origin, data[:rx])
+        set_joystick_default_value(:rt_origin, data[:rt])
+        set_joystick_default_value(:lt_origin, data[:lt])
+      end
+
+      # Update button values
+      def update_buttons
+        update_button("a_button", :a)
+        update_button("b_button", :b)
+        update_button("x_button", :x)
+        update_button("y_button", :y)
+        update_button("home_button", :h)
+        update_button("start_button", :+)
+        update_button("select_button", :-)
+      end
+
+      # Publish button event
+      def update_button(name, key)
+        publish(event_topic_name(name)) if data[key] == true
+      end
+
+      # Publish left joystick event
+      def update_left_joystick
+        publish(event_topic_name("left_joystick"), {:x => calculate_joystick_value(:lx, :lx_origin), :y => calculate_joystick_value(:ly, :ly_origin)})
+      end
+
+      # Publish right joystick event
+      def update_right_joystick
+        publish(event_topic_name("right_joystick"), {:x => calculate_joystick_value(:rx, :rx_origin), :y => calculate_joystick_value(:ry, :ry_origin)})
+      end
+
+      # Publish triggers events
+      def update_triggers
+        publish(event_topic_name("right_trigger"), calculate_joystick_value(:rt, :rt_origin))
+        publish(event_topic_name("left_trigger"), calculate_joystick_value(:lt, :lt_origin))
+      end
+
+      private
+
+      def get_defaults
+        {
+          :ry_origin => nil,
+          :rx_origin => nil,
+          :ly_origin => nil,
+          :lx_origin => nil,
+          :rt_origin => nil,
+          :lt_origin => nil
+        }
+      end
+
+      def parse(value)
+        return parse_joysticks(value).
+          merge(parse_buttons(value)).
+          merge(parse_triggers(value)).
+          merge(parse_dpad(value)).
+          merge(parse_zbuttons(value))
+      end
+
+      def parse_joysticks(value)
+        {
+          :lx => decode_value(value, 0) & 0x3f,
+          :ly => decode_value(value, 1) & 0x3f,
+          :rx => ((decode_value(value, 0) & 0xC0) >> 3)  | ((decode_value(value, 1) & 0xC0) >> 5) | (decode_value(value, 2)[7]),
+          :ry => decode_value(value, 2) & 0x1f
+        }
+      end
+
+      def parse_buttons(value)
+        {
+          :a => get_bool_decoded_value(value, 5, 4),
+          :b => get_bool_decoded_value(value, 5, 6),
+          :x => get_bool_decoded_value(value, 5, 3),
+          :y => get_bool_decoded_value(value, 5, 5),
+          :+ => get_bool_decoded_value(value, 4, 2),
+          :- => get_bool_decoded_value(value, 4, 4),
+          :h => get_bool_decoded_value(value, 4, 3)
+        }
+      end
+
+      def parse_triggers(value)
+        {
+          :lt => ((decode_value(value, 2) & 0x60) >> 3) | ((decode_value(value, 3) & 0xC0) >> 6),
+          :rt => decode_value(value, 3) & 0x1f
+        }
+      end
+
+      def parse_dpad(value)
+        {
+          :d_up => get_bool_decoded_value(value, 5, 0),
+          :d_down => get_bool_decoded_value(value, 4, 6),
+          :d_left => get_bool_decoded_value(value, 5, 1),
+          :d_right => get_bool_decoded_value(value, 4, 7)
+        }
+      end
+
+      def parse_zbuttons(value)
+        {
+          :zr => get_bool_decoded_value(value, 5, 2),
+          :zl => get_bool_decoded_value(value, 5, 7)
+        }
+      end
+
+      def get_bool_decoded_value(value, offset1, offset2)
+        generate_bool(decode_value(value, offset1)[offset2])
+      end
+    end
+  end
+end

data/lib/artoo/drivers/wiidriver.rb

@@ -0,0 +1,103 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Wii-based controller shared driver behaviors for Firmata
+    class Wiidriver < Driver
+      attr_reader :joystick, :data
+
+      def address; 0x52; end
+
+      # Create new Wiidriver
+      def initialize(params={})
+        @joystick = get_defaults
+        @data = {}
+        super
+      end
+
+      # Starts drives and required connections
+      def start_driver
+        begin
+          connection.i2c_config(0)
+          every(interval) do
+            connection.i2c_write_request(address, 0x40, 0x00)
+            connection.i2c_write_request(address, 0x00, 0x00)
+            connection.i2c_read_request(address, 6)
+            
+            connection.read_and_process
+            handle_events
+          end
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting wii driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Get and update data
+      def update(value)
+        if encrypted?(value)
+          Logger.error "Encrypted bytes from wii device!"
+          raise "Encrypted bytes from wii device!"
+        end
+
+        @data = parse(value)
+      end
+
+      def handle_events
+        while i = find_event("i2c_reply") do
+          event = events.slice!(i)
+          update(event.data.first) if !event.nil?
+        end
+      end
+
+      protected
+
+      def find_event(name)
+        events.index {|e| e.name == name}
+      end
+
+      def events
+        connection.async_events
+      end
+
+      def get_defaults
+        {}
+      end
+
+      def parse
+        {}
+      end
+
+      def set_joystick_default_value(joystick_axis, default_value)
+        joystick[joystick_axis] = default_value if joystick[joystick_axis].nil?
+      end
+
+      def calculate_joystick_value(axis, origin)
+        data[axis] - joystick[origin]
+      end
+
+      def encrypted?(value)
+        [[0, 1], [2, 3], [4, 5]].all? {|a| get_value(value, a[0]) == get_value(value, a[1]) }
+      end
+
+      def decode(x)
+        return ( x ^ 0x17 ) + 0x17
+      end
+
+      def decode_value(value, index)
+        decode(get_value(value, index))
+      end
+
+      def get_value(value, index)
+        value[:data][index]
+      end
+
+      def generate_bool(value)
+        value == 0 ? true : false
+      end
+    end
+  end
+end

data/test/adaptors/firmata_test.rb

@@ -0,0 +1,25 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/adaptors/firmata'
+require 'firmata'
+
+describe Artoo::Adaptors::Firmata do
+  before do
+    @port = Artoo::Port.new('/dev/awesome')
+    @adaptor = Artoo::Adaptors::Firmata.new(:port => @port)
+    @firmata = mock('firmata')
+    Firmata::Board.stubs(:new).returns(@firmata)
+  end
+
+  it 'Artoo::Adaptors::Firmata#connect' do
+    @firmata.expects(:connect)
+    @adaptor.connect.must_equal true
+  end
+
+  it 'Artoo::Adaptors::Firmata#disconnect' do
+    @firmata.stubs(:connect)
+    @adaptor.connect
+    @adaptor.disconnect
+
+    @adaptor.connected?.must_equal false
+  end
+end

data/test/drivers/led_test.rb

@@ -0,0 +1,56 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/led'
+
+describe Artoo::Drivers::Led do
+  before do
+    @device = mock('device')
+    @pin = 13
+    @device.stubs(:pin).returns(@pin)
+    @led = Artoo::Drivers::Led.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it 'Led#is_on? default' do
+    @led.is_on?.must_equal false
+  end
+
+  it 'Led#is_off? default' do
+    @led.is_off?.must_equal true
+  end
+
+  it 'Led#on' do
+    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
+    @connection.expects(:digital_write).with(@pin, Firmata::Board::HIGH)
+    @led.on
+    @led.is_on?.must_equal true
+  end
+
+  it 'Led#off' do
+    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
+    @connection.expects(:digital_write).with(@pin, Firmata::Board::LOW)
+    @led.off
+    @led.is_off?.must_equal true
+  end
+
+  it 'Led#toggle' do
+    @connection.stubs(:set_pin_mode)
+    @connection.stubs(:digital_write)
+    @led.is_off?.must_equal true
+    @led.toggle
+    @led.is_on?.must_equal true
+    @led.toggle
+    @led.is_off?.must_equal true
+  end
+
+  it 'Led#brightness' do
+    val = 100
+    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::PWM)
+    @connection.expects(:analog_write).with(@pin, val)
+    @led.brightness(val)
+  end
+
+  it 'Led#commands' do
+    @led.commands.must_include :toggle
+  end
+end

data/test/drivers/motor_test.rb

@@ -0,0 +1,40 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/motor'
+
+describe Artoo::Drivers::Motor do
+  before do
+    @device = mock('device')
+    @device.stubs(:pin).returns([2, 3, 4])
+    @motor = Artoo::Drivers::Motor.new(:parent => @device)
+
+    @connection = mock('connection')
+    @connection.stubs(:set_pin_mode)
+    @connection.stubs(:analog_write)
+    @connection.stubs(:digital_write)
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it 'Motor#speed must be valid' do
+    invalid_speed = lambda { @motor2 = Artoo::Drivers::Motor.new(:parent => @device); @motor2.speed("ads") }
+    invalid_speed.must_raise RuntimeError
+    error = invalid_speed.call rescue $!
+    error.message.must_equal 'Motor speed must be an integer between 0-255'
+  end
+
+  it 'Motor#forward' do
+    @motor.wrapped_object.expects(:set_legs)
+    @motor.forward(100)
+    @motor.current_speed.must_equal 100
+  end
+
+  it 'Motor#backward' do
+    @motor.wrapped_object.expects(:set_legs)
+    @motor.backward(100)
+    @motor.current_speed.must_equal 100
+  end
+
+  it 'Motor#stop' do
+    @motor.stop
+    @motor.current_speed.must_equal 0
+  end
+end

data/test/drivers/servo_test.rb

@@ -0,0 +1,45 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/servo'
+
+describe Artoo::Drivers::Servo do
+  before do
+    @device = mock('device')
+    @device.stubs(:pin).returns(3)
+    @servo = Artoo::Drivers::Servo.new(:parent => @device)
+
+    @connection = mock('connection')
+    @connection.stubs(:set_pin_mode)
+    @connection.stubs(:analog_write)
+    # @connection.stubs(:digital_write)
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it "Servo#angle_to_span" do
+    @servo.angle_to_span(0).must_equal 0
+    @servo.angle_to_span(30).must_equal 42
+    @servo.angle_to_span(90).must_equal 127
+    @servo.angle_to_span(180).must_equal 255
+  end
+
+  it 'Servo#move must be valid' do
+    invalid_angle = lambda { @servo2 = Artoo::Drivers::Servo.new(:parent => @device); @servo2.move(360) }
+    invalid_angle.must_raise RuntimeError
+    error = invalid_angle.call rescue $!
+    error.message.must_equal 'Servo angle must be an integer between 0-180'
+  end
+
+  it 'Servo#min' do
+    @servo.min
+    @servo.current_angle.must_equal 0
+  end
+
+  it 'Servo#center' do
+    @servo.center
+    @servo.current_angle.must_equal 90
+  end
+
+  it 'Servo#max' do
+    @servo.max
+    @servo.current_angle.must_equal 180
+  end
+end

data/test/drivers/wiichuck_test.rb

@@ -0,0 +1,11 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiichuck'
+
+describe Artoo::Drivers::Wiichuck do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiichuck.new(:parent => @device)
+  end
+
+  it 'must do things'
+end

data/test/drivers/wiiclassic_test.rb

@@ -0,0 +1,11 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiiclassic'
+
+describe Artoo::Drivers::Wiiclassic do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiiclassic.new(:parent => @device)
+  end
+
+  it 'must do things'
+end

data/test/drivers/wiidriver_test.rb

@@ -0,0 +1,54 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiidriver'
+
+class Artoo::Drivers::Wiidriver
+  public :set_joystick_default_value, :calculate_joystick_value, :encrypted?,
+         :decode, :get_value, :generate_bool
+end
+
+describe Artoo::Drivers::Wiidriver do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiidriver.new(:parent => @device)
+  end
+
+  it 'Artoo::Drivers::Wiidriver#set_joystick_default_value' do
+    val = "101"
+    @driver.joystick[:test_axis] = nil
+    @driver.set_joystick_default_value(:test_axis, val)
+    @driver.joystick[:test_axis].must_equal val
+  end
+
+  it 'Artoo::Drivers::Wiidriver#calculate_joystick_value' do
+    @driver.data[:test_axis] = 8
+    @driver.joystick[:test_origin] = 5
+    @driver.calculate_joystick_value(:test_axis, :test_origin).must_equal 3
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [0, 0, 0, 0, 0, 0]}
+    @driver.encrypted?(value).must_equal true
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [1, 2, 3, 4, 5, 6]}
+    @driver.encrypted?(value).must_equal false
+  end
+
+  it 'Artoo::Drivers::Wiidriver#decode' do
+    @driver.decode(22).must_equal 24
+    @driver.decode(0).must_equal 46
+    @driver.decode(16).must_equal 30
+  end
+
+  it 'Artoo::Drivers::Wiidriver#get_value' do
+    value = {:data => [1, 2, 3, 4, 5, 6], :other_data => [10, 20, 30, 40, 50, 60]}
+    @driver.get_value(value, 1).must_equal 2
+    @driver.get_value(value, 5).must_equal 6
+  end
+
+  it 'Artoo::Drivers::Wiidriver#generate_bool' do
+    @driver.generate_bool(0).must_equal true
+    @driver.generate_bool(1).must_equal false
+  end
+end

data/test/test_helper.rb

@@ -0,0 +1,6 @@
+require 'minitest/autorun'
+require 'mocha/setup'
+
+require 'artoo/robot'
+
+Celluloid.logger = nil

metadata

@@ -0,0 +1,143 @@
+--- !ruby/object:Gem::Specification
+name: artoo-arduino
+version: !ruby/object:Gem::Version
+  version: 1.0.0.pre
+platform: ruby
+authors:
+- Ron Evans
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-05-24 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: artoo
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.0.pre
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.0.pre
+- !ruby/object:Gem::Dependency
+  name: hybridgroup-firmata
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.4.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.4.0
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '5.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '5.0'
+- !ruby/object:Gem::Dependency
+  name: minitest-happy
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: mocha
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.14.0
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.14.0
+description: Artoo adaptor and driver for Arduino
+email:
+- artoo@hybridgroup.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .rvmrc.example
+- .travis.yml
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- README.md
+- Rakefile
+- artoo-arduino.gemspec
+- examples/button_and_led.rb
+- examples/firmata.rb
+- lib/artoo-arduino.rb
+- lib/artoo-arduino/version.rb
+- lib/artoo/adaptors/firmata.rb
+- lib/artoo/drivers/button.rb
+- lib/artoo/drivers/led.rb
+- lib/artoo/drivers/motor.rb
+- lib/artoo/drivers/servo.rb
+- lib/artoo/drivers/wiichuck.rb
+- lib/artoo/drivers/wiiclassic.rb
+- lib/artoo/drivers/wiidriver.rb
+- test/adaptors/firmata_test.rb
+- test/drivers/led_test.rb
+- test/drivers/motor_test.rb
+- test/drivers/servo_test.rb
+- test/drivers/wiichuck_test.rb
+- test/drivers/wiiclassic_test.rb
+- test/drivers/wiidriver_test.rb
+- test/test_helper.rb
+homepage: https://github.com/hybridgroup/artoo-arduino
+licenses: []
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>'
+    - !ruby/object:Gem::Version
+      version: 1.3.1
+requirements: []
+rubyforge_project: artoo-arduino
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo adaptor and driver for Arduino
+test_files: []