artoo-arduino 1.0.1 → 1.0.2

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data/Gemfile CHANGED
@@ -1,4 +1,5 @@
1
1
  source "http://rubygems.org"
2
2
 
3
- # Specify your gem's dependencies in artoo-sphero.gemspec
3
+ # Specify your gem's dependencies in artoo-arduino.gemspec
4
4
  gemspec
5
+ #gem 'hybridgroup-firmata', path: '/path/to/hybridgroup-firmata'
data/Gemfile.lock CHANGED
@@ -1,14 +1,14 @@
1
1
  PATH
2
2
  remote: .
3
3
  specs:
4
- artoo-arduino (1.0.1)
5
- artoo (~> 1.0.0.rc3)
6
- hybridgroup-firmata (~> 0.4.2)
4
+ artoo-arduino (1.0.2)
5
+ artoo (~> 1.0.0)
6
+ hybridgroup-firmata (~> 0.4.3)
7
7
 
8
8
  GEM
9
9
  remote: http://rubygems.org/
10
10
  specs:
11
- artoo (1.0.0.rc3)
11
+ artoo (1.0.0)
12
12
  celluloid (~> 0.14.1)
13
13
  celluloid-io (~> 0.14.1)
14
14
  multi_json (~> 1.6)
@@ -23,13 +23,13 @@ GEM
23
23
  nio4r (>= 0.4.5)
24
24
  certified (0.1.1)
25
25
  coderay (1.0.9)
26
- event_spitter (0.5.0)
26
+ event_emitter (0.2.5)
27
27
  http (0.4.0)
28
28
  certified
29
29
  http_parser.rb
30
30
  http_parser.rb (0.5.3)
31
- hybridgroup-firmata (0.4.2)
32
- event_spitter
31
+ hybridgroup-firmata (0.4.3)
32
+ event_emitter
33
33
  metaclass (0.0.1)
34
34
  method_source (0.8.2)
35
35
  minitest (5.0.1)
@@ -6,7 +6,7 @@ Gem::Specification.new do |s|
6
6
  s.name = "artoo-arduino"
7
7
  s.version = Artoo::Arduino::VERSION
8
8
  s.platform = Gem::Platform::RUBY
9
- s.authors = ["Ron Evans", "Adrian Zankich"]
9
+ s.authors = ["Ron Evans", "Adrian Zankich", "Rafael Magaña"]
10
10
  s.email = ["artoo@hybridgroup.com"]
11
11
  s.homepage = "https://github.com/hybridgroup/artoo-arduino"
12
12
  s.summary = %q{Artoo adaptor and driver for Arduino}
@@ -19,8 +19,8 @@ Gem::Specification.new do |s|
19
19
  s.executables = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
20
20
  s.require_paths = ["lib"]
21
21
 
22
- s.add_runtime_dependency 'artoo', '~> 1.0.0.rc3'
23
- s.add_runtime_dependency 'hybridgroup-firmata', '~> 0.4.2'
22
+ s.add_runtime_dependency 'artoo', '~> 1.0.0'
23
+ s.add_runtime_dependency 'hybridgroup-firmata', '~> 0.4.3'
24
24
  s.add_development_dependency 'minitest', '~> 5.0'
25
25
  s.add_development_dependency 'minitest-happy'
26
26
  s.add_development_dependency 'mocha', '~> 0.14.0'
@@ -0,0 +1,17 @@
1
+ require 'artoo'
2
+
3
+ # Circuit and schematic here: http://arduino.cc/en/Tutorial/Blink
4
+
5
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
6
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
7
+ device :board
8
+ device :led, :driver => :led, :pin => 13
9
+
10
+ work do
11
+ puts "Firmware name: #{board.firmware_name}"
12
+ puts "Firmata version: #{board.version}"
13
+
14
+ every 1.second do
15
+ led.on? ? led.off : led.on
16
+ end
17
+ end
@@ -0,0 +1,18 @@
1
+ require 'artoo'
2
+
3
+ # Circuit and schematic here: http://arduino.cc/en/Tutorial/Blink
4
+
5
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
6
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
7
+ device :board
8
+ device :led, :driver => :led, :pin => 13
9
+
10
+ work do
11
+ puts "Firmware name: #{board.firmware_name}"
12
+ puts "Firmata version: #{board.version}"
13
+
14
+ every 1.second do
15
+ led.toggle
16
+ end
17
+ end
18
+
@@ -0,0 +1,16 @@
1
+ require 'artoo'
2
+
3
+ # Circuit and schematic here: http://arduino.cc/en/tutorial/button
4
+
5
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
6
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
7
+ device :led, :driver => :led, :pin => 13
8
+ device :button, :driver => :button, :pin => 2, :interval => 0.01
9
+
10
+ work do
11
+ puts
12
+ puts "Press the button connected on pin #{button.pin}..."
13
+
14
+ on button, :push => proc { led.on }
15
+ on button, :release => proc { led.off }
16
+ end
@@ -0,0 +1,29 @@
1
+ require 'artoo'
2
+
3
+ # Circuit and schematic here: http://arduino.cc/en/Tutorial/Fade
4
+
5
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
6
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
7
+ device :board
8
+ device :led, :driver => :led, :pin => 3
9
+
10
+ brightness = 0
11
+ fade_amount = 5
12
+
13
+
14
+ work do
15
+
16
+ puts "Firmware name: #{board.firmware_name}"
17
+ puts "Firmata version: #{board.version}"
18
+
19
+ led.on
20
+
21
+ every(0.05) do
22
+ led.brightness(brightness)
23
+ brightness = brightness + fade_amount
24
+ if brightness == 0 or brightness == 255
25
+ fade_amount = -fade_amount
26
+ end
27
+ end
28
+
29
+ end
@@ -0,0 +1,28 @@
1
+ require 'artoo'
2
+
3
+ leg1_pin = 7 # digital pin
4
+ leg2_pin = 4 # digital pin
5
+ speed_pin = 3 # PWM pin
6
+
7
+ speed = 0
8
+ forward = true
9
+
10
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
11
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
12
+ device :board
13
+ device :motor, :driver => :motor, :pin => [leg1_pin, leg2_pin, speed_pin]
14
+
15
+ work do
16
+ puts "Firmware name: #{board.firmware_name}"
17
+ puts "Firmata version: #{board.version}"
18
+
19
+ every(0.1)do
20
+ forward ? motor.forward(speed) : motor.backward(speed)
21
+ speed += 10
22
+ if speed >= 255
23
+ speed = 0
24
+ forward = (not forward)
25
+ sleep 1 # give the motor some time to stop inertia
26
+ end
27
+ end
28
+ end
@@ -0,0 +1,21 @@
1
+ require 'artoo'
2
+
3
+ # Circuit and schematic here: http://arduino.cc/en/Tutorial/Sweep
4
+
5
+ #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
6
+ connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
7
+ device :board
8
+ device :servo, :driver => :servo, :pin => 3 # pin must be a PWM pin
9
+
10
+ work do
11
+ puts "Firmware name: #{board.firmware_name}"
12
+ puts "Firmata version: #{board.version}"
13
+
14
+ every(2) do
15
+ case servo.current_angle
16
+ when 90 then servo.max
17
+ when 0 then servo.center
18
+ when 180 then servo.min
19
+ end
20
+ end
21
+ end
@@ -0,0 +1,13 @@
1
+ require 'artoo'
2
+
3
+ connection :arduino, :adaptor => :firmata, :port => "127.0.0.1:8023"
4
+ device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
5
+
6
+ work do
7
+ on wiichuck, :c_button => proc { puts "c button pressed!" }
8
+ on wiichuck, :z_button => proc { puts "z button pressed!" }
9
+ on wiichuck, :joystick => proc { |*value|
10
+ puts "joystick x: #{value[1][:x]}, y: #{value[1][:y]}"
11
+ }
12
+ end
13
+
@@ -10,7 +10,8 @@ module Artoo
10
10
  # Creates connection with firmata board
11
11
  # @return [Boolean]
12
12
  def connect
13
- require 'firmata' unless defined?(::Firmata)
13
+ require 'firmata' unless defined?(::Firmata::Board)
14
+
14
15
  @firmata = ::Firmata::Board.new(connect_to)
15
16
  @firmata.connect
16
17
  super
@@ -17,7 +17,7 @@ module Artoo
17
17
  # Sets values to read and write from button
18
18
  # and starts driver
19
19
  def start_driver
20
- connection.set_pin_mode(pin, Firmata::Board::INPUT)
20
+ connection.set_pin_mode(pin, Firmata::PinModes::INPUT)
21
21
  connection.toggle_pin_reporting(pin)
22
22
 
23
23
  every(interval) do
@@ -29,14 +29,14 @@ module Artoo
29
29
  end
30
30
 
31
31
  def handle_events
32
- while i = find_event("digital-read-#{pin}") do
32
+ while i = find_event("digital_read_#{pin}") do
33
33
  event = events.slice!(i)
34
34
  update(event.data.first) if !event.nil?
35
35
  end
36
36
  end
37
37
 
38
38
  def find_event(name)
39
- events.index {|e| e.name == name}
39
+ events.index {|e| e.name == name.to_sym}
40
40
  end
41
41
 
42
42
  def events
@@ -5,44 +5,57 @@ module Artoo
5
5
  # The LED driver behaviors
6
6
  class Led < Driver
7
7
 
8
- COMMANDS = [:firmware_name, :version, :on, :off, :toggle, :brightness].freeze
8
+ COMMANDS = [:firmware_name, :version,
9
+ :on, :off, :toggle,
10
+ :brightness,
11
+ :on?, :off?].freeze
9
12
 
13
+ def initialize(params = {})
14
+ @is_on = false
15
+ super
16
+ end
10
17
  # @return [Boolean] True if on
11
- def is_on?
12
- (@is_on ||= false) == true
18
+ def on?
19
+ @is_on
13
20
  end
14
21
 
15
22
  # @return [Boolean] True if off
16
- def is_off?
17
- (@is_on ||= false) == false
23
+ def off?
24
+ (not on?)
18
25
  end
19
26
 
20
- # Sets led to on status
27
+ # Sets led to level HIGH
21
28
  def on
29
+ change_state(pin, Firmata::PinLevels::HIGH)
22
30
  @is_on = true
23
- connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
24
- connection.digital_write(pin, Firmata::Board::HIGH)
31
+ true
25
32
  end
26
33
 
27
- # Sets led to off status
34
+ # Sets led to level LOW
28
35
  def off
36
+ change_state(pin, Firmata::PinLevels::LOW)
29
37
  @is_on = false
30
- connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
31
- connection.digital_write(pin, Firmata::Board::LOW)
38
+ true
32
39
  end
33
40
 
34
41
  # Toggle status
35
42
  # @example on > off, off > on
36
43
  def toggle
37
- is_off? ? on : off
44
+ on? ? off : on
38
45
  end
39
46
 
40
47
  # Change brightness level
41
48
  # @param [Integer] level
42
49
  def brightness(level=0)
43
- connection.set_pin_mode(pin, Firmata::Board::PWM)
50
+ connection.set_pin_mode(pin, Firmata::PinModes::PWM)
44
51
  connection.analog_write(pin, level)
45
52
  end
53
+
54
+ private
55
+ def change_state(pin, level)
56
+ connection.set_pin_mode(pin, Firmata::PinModes::OUTPUT)
57
+ connection.digital_write(pin, level)
58
+ end
46
59
  end
47
60
  end
48
61
  end
@@ -31,14 +31,14 @@ module Artoo
31
31
  # Sets movement forward
32
32
  # @param [Integer] s speed
33
33
  def forward(s)
34
- set_legs(Firmata::Board::LOW, Firmata::Board::HIGH)
34
+ set_legs(Firmata::PinLevels::LOW, Firmata::PinLevels::HIGH)
35
35
  speed(s)
36
36
  end
37
37
 
38
38
  # Sets movement backward
39
39
  # @param [Integer] s speed
40
40
  def backward(s)
41
- set_legs(Firmata::Board::HIGH, Firmata::Board::LOW)
41
+ set_legs(Firmata::PinLevels::HIGH, Firmata::PinLevels::LOW)
42
42
  speed(s)
43
43
  end
44
44
 
@@ -52,16 +52,16 @@ module Artoo
52
52
  def speed(s)
53
53
  raise "Motor speed must be an integer between 0-255" unless (s.is_a?(Numeric) && s >= 0 && s <= 255)
54
54
  @current_speed = s
55
- connection.set_pin_mode(speed_pin, Firmata::Board::PWM)
55
+ connection.set_pin_mode(speed_pin, Firmata::PinModes::PWM)
56
56
  connection.analog_write(speed_pin, s)
57
57
  end
58
58
 
59
59
  private
60
60
 
61
61
  def set_legs(l1, l2)
62
- connection.set_pin_mode(leg1_pin, Firmata::Board::OUTPUT)
62
+ connection.set_pin_mode(leg1_pin, Firmata::PinModes::OUTPUT)
63
63
  connection.digital_write(leg1_pin, l1)
64
- connection.set_pin_mode(leg2_pin, Firmata::Board::OUTPUT)
64
+ connection.set_pin_mode(leg2_pin, Firmata::PinModes::OUTPUT)
65
65
  connection.digital_write(leg2_pin, l2)
66
66
  end
67
67
  end
@@ -4,7 +4,7 @@ module Artoo
4
4
  module Drivers
5
5
  # Servo behaviors for Firmata
6
6
  class Servo < Driver
7
- COMMANDS = [:move, :min, :center, :max].freeze
7
+ COMMANDS = [:move, :min, :center, :max, :current_angle].freeze
8
8
 
9
9
  attr_reader :current_angle
10
10
 
@@ -30,7 +30,7 @@ module Artoo
30
30
  raise "Servo angle must be an integer between 0-180" unless (angle.is_a?(Numeric) && angle >= 0 && angle <= 180)
31
31
 
32
32
  @current_angle = angle
33
- connection.set_pin_mode(pin, Firmata::Board::SERVO)
33
+ connection.set_pin_mode(pin, Firmata::PinModes::SERVO)
34
34
  connection.analog_write(pin, angle_to_span(angle))
35
35
  end
36
36
 
@@ -47,7 +47,7 @@ module Artoo
47
47
  end
48
48
 
49
49
  def handle_events
50
- while i = find_event("i2c_reply") do
50
+ while i = find_event(:i2c_reply) do
51
51
  event = events.slice!(i)
52
52
  update(event.data.first) if !event.nil?
53
53
  end
@@ -1,5 +1,5 @@
1
1
  module Artoo
2
2
  module Arduino
3
- VERSION = '1.0.1'
3
+ VERSION = '1.0.2'
4
4
  end
5
5
  end
@@ -11,46 +11,90 @@ describe Artoo::Drivers::Led do
11
11
  @device.stubs(:connection).returns(@connection)
12
12
  end
13
13
 
14
- it 'Led#is_on? default' do
15
- @led.is_on?.must_equal false
16
- end
14
+ describe 'state switching' do
17
15
 
18
- it 'Led#is_off? default' do
19
- @led.is_off?.must_equal true
20
- end
16
+ before do
17
+ @connection.expects(:set_pin_mode).with(@pin, Firmata::PinModes::OUTPUT)
18
+ end
21
19
 
22
- it 'Led#on' do
23
- @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
24
- @connection.expects(:digital_write).with(@pin, Firmata::Board::HIGH)
25
- @led.on
26
- @led.is_on?.must_equal true
20
+ describe '#on' do
21
+ it 'must turn the led on' do
22
+ @connection.expects(:digital_write).with(@pin, Firmata::PinLevels::HIGH)
23
+ @led.on
24
+ end
25
+ end
26
+
27
+ describe '#off' do
28
+ it 'must turn the led off' do
29
+ @connection.expects(:digital_write).with(@pin, Firmata::PinLevels::LOW)
30
+ @led.off
31
+ end
32
+ end
27
33
  end
28
34
 
29
- it 'Led#off' do
30
- @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
31
- @connection.expects(:digital_write).with(@pin, Firmata::Board::LOW)
32
- @led.off
33
- @led.is_off?.must_equal true
35
+ describe 'state checking' do
36
+
37
+ before do
38
+ @led.stubs(:change_state)
39
+ end
40
+
41
+ describe '#on?' do
42
+ it 'must return true if led is on' do
43
+ @led.on
44
+ @led.on?.must_equal true
45
+ end
46
+
47
+ it 'must return false if led is off' do
48
+ @led.off
49
+ @led.on?.must_equal false
50
+ end
51
+ end
52
+
53
+ describe '#off?' do
54
+ it 'must return true if led is off' do
55
+ @led.off
56
+ @led.off?.must_equal true
57
+ end
58
+
59
+ it 'must return false if led is on' do
60
+ @led.on
61
+ @led.off?.must_equal false
62
+ end
63
+ end
34
64
  end
35
65
 
36
- it 'Led#toggle' do
37
- @connection.stubs(:set_pin_mode)
38
- @connection.stubs(:digital_write)
39
- @led.is_off?.must_equal true
40
- @led.toggle
41
- @led.is_on?.must_equal true
42
- @led.toggle
43
- @led.is_off?.must_equal true
66
+ describe '#toggle' do
67
+ it 'must toggle the state of the led' do
68
+ @led.stubs(:pin_state_on_board).returns(false)
69
+ @connection.stubs(:set_pin_mode)
70
+ @connection.stubs(:digital_write)
71
+ @led.off?.must_equal true
72
+ @led.toggle
73
+ @led.on?.must_equal true
74
+ @led.toggle
75
+ @led.off?.must_equal true
76
+ end
44
77
  end
45
78
 
46
- it 'Led#brightness' do
47
- val = 100
48
- @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::PWM)
49
- @connection.expects(:analog_write).with(@pin, val)
50
- @led.brightness(val)
79
+ describe '#brightness' do
80
+ it 'must change the brightness of the led' do
81
+ val = 100
82
+ @connection.expects(:set_pin_mode).with(@pin, Firmata::PinModes::PWM)
83
+ @connection.expects(:analog_write).with(@pin, val)
84
+ @led.brightness(val)
85
+ end
51
86
  end
52
87
 
53
- it 'Led#commands' do
54
- @led.commands.must_include :toggle
88
+ describe '#commands' do
89
+ it 'must contain all the necessary commands' do
90
+ @led.commands.must_include :firmware_name
91
+ @led.commands.must_include :version
92
+ @led.commands.must_include :on
93
+ @led.commands.must_include :off
94
+ @led.commands.must_include :toggle
95
+ @led.commands.must_include :brightness
96
+ @led.commands.must_include :on?
97
+ @led.commands.must_include :off?
98
+ end
55
99
  end
56
100
  end
data/test/test_helper.rb CHANGED
@@ -1,6 +1,6 @@
1
1
  require 'minitest/autorun'
2
2
  require 'mocha/setup'
3
-
3
+ require 'firmata'
4
4
  require 'artoo/robot'
5
5
 
6
6
  Celluloid.logger = nil
metadata CHANGED
@@ -1,15 +1,16 @@
1
1
  --- !ruby/object:Gem::Specification
2
2
  name: artoo-arduino
3
3
  version: !ruby/object:Gem::Version
4
- version: 1.0.1
4
+ version: 1.0.2
5
5
  platform: ruby
6
6
  authors:
7
7
  - Ron Evans
8
8
  - Adrian Zankich
9
+ - Rafael Magaña
9
10
  autorequire:
10
11
  bindir: bin
11
12
  cert_chain: []
12
- date: 2013-08-15 00:00:00.000000000 Z
13
+ date: 2013-08-21 00:00:00.000000000 Z
13
14
  dependencies:
14
15
  - !ruby/object:Gem::Dependency
15
16
  name: artoo
@@ -17,28 +18,28 @@ dependencies:
17
18
  requirements:
18
19
  - - ~>
19
20
  - !ruby/object:Gem::Version
20
- version: 1.0.0.rc3
21
+ version: 1.0.0
21
22
  type: :runtime
22
23
  prerelease: false
23
24
  version_requirements: !ruby/object:Gem::Requirement
24
25
  requirements:
25
26
  - - ~>
26
27
  - !ruby/object:Gem::Version
27
- version: 1.0.0.rc3
28
+ version: 1.0.0
28
29
  - !ruby/object:Gem::Dependency
29
30
  name: hybridgroup-firmata
30
31
  requirement: !ruby/object:Gem::Requirement
31
32
  requirements:
32
33
  - - ~>
33
34
  - !ruby/object:Gem::Version
34
- version: 0.4.2
35
+ version: 0.4.3
35
36
  type: :runtime
36
37
  prerelease: false
37
38
  version_requirements: !ruby/object:Gem::Requirement
38
39
  requirements:
39
40
  - - ~>
40
41
  - !ruby/object:Gem::Version
41
- version: 0.4.2
42
+ version: 0.4.3
42
43
  - !ruby/object:Gem::Dependency
43
44
  name: minitest
44
45
  requirement: !ruby/object:Gem::Requirement
@@ -97,8 +98,13 @@ files:
97
98
  - README.md
98
99
  - Rakefile
99
100
  - artoo-arduino.gemspec
100
- - examples/button_and_led.rb
101
- - examples/firmata.rb
101
+ - examples/firmata_blink_led.rb
102
+ - examples/firmata_blink_led_with_toggle.rb
103
+ - examples/firmata_button_and_led.rb
104
+ - examples/firmata_led_brightness.rb
105
+ - examples/firmata_motor.rb
106
+ - examples/firmata_servo.rb
107
+ - examples/firmata_wiichuck.rb
102
108
  - lib/artoo-arduino.rb
103
109
  - lib/artoo-arduino/version.rb
104
110
  - lib/artoo/adaptors/firmata.rb
@@ -1,9 +0,0 @@
1
- require 'artoo'
2
-
3
- connection :arduino, :adaptor => :firmata, :port => '127.0.0.1:8023'
4
- device :led, :driver => :led, :pin => 13
5
- device :button, :driver => :button, :pin => 2
6
-
7
- work do
8
- on button, :push => proc {led.toggle}
9
- end
data/examples/firmata.rb DELETED
@@ -1,13 +0,0 @@
1
- require 'artoo'
2
-
3
- connection :arduino, :adaptor => :firmata, :port => '127.0.0.1:8023'
4
- device :board
5
- device :led, :driver => :led, :pin => 13
6
-
7
- work do
8
- puts "Firmware name #{board.firmware_name}"
9
- puts "Firmata version #{board.version}"
10
- every 1.second do
11
- led.toggle
12
- end
13
- end