artoo-arduino 1.0.4 → 1.0.5.pre

checksums.yaml

@@ -1,7 +1,7 @@
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-  data.tar.gz: 67bd79ab8c8532f535f1b7570c23d0764918f88d
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data/Gemfile.lock

@@ -1,26 +1,26 @@
 PATH
   remote: .
   specs:
-    artoo-arduino (1.0.4)
-      artoo (~> 1.0.0)
+    artoo-arduino (1.0.5.pre)
+      artoo (~> 1.1.0.pre)
       hybridgroup-firmata (~> 0.4.5)
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.0.0)
-      celluloid (~> 0.14.1)
-      celluloid-io (~> 0.14.1)
+    artoo (1.1.0.pre)
+      celluloid (~> 0.15.0.pre2)
+      celluloid-io (~> 0.15.0.pre2)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake (~> 10.0)
       reel (~> 0.4.0.pre)
       thor (~> 0.18.1)
-    celluloid (0.14.1)
+    celluloid (0.15.0.pre2)
       timers (>= 1.0.0)
-    celluloid-io (0.14.1)
-      celluloid (>= 0.14.1)
-      nio4r (>= 0.4.5)
+    celluloid-io (0.15.0.pre2)
+      celluloid (>= 0.15.0.pre)
+      nio4r (>= 0.5.0)
     certified (0.1.1)
     coderay (1.0.9)
     event_emitter (0.2.5)

data/README.md

@@ -32,6 +32,17 @@ work do
 end
 ```
 
+## Devices supported
+
+The following hardware devices have driver support:
+- Button
+- LED
+- Maxbotix ultrasonic range finder
+- Motor (DC)
+- Servo
+- Wiichuck controller (via i2c)
+- Wiiclassic controller (via i2c)
+
 ## Connecting to Arduino
 
 ### OSX

data/artoo-arduino.gemspec

@@ -19,7 +19,7 @@ Gem::Specification.new do |s|
   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'
+  s.add_runtime_dependency 'artoo', '~> 1.1.0.pre'
   s.add_runtime_dependency 'hybridgroup-firmata', '~> 0.4.5'
   s.add_development_dependency 'minitest', '~> 5.0'
   s.add_development_dependency 'minitest-happy'

data/examples/firmata_blink_led.rb

@@ -3,8 +3,8 @@ require 'artoo'
 # Circuit and schematic here: http://arduino.cc/en/Tutorial/Blink
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
-connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:4567'
+device :board, :driver => :firmata_board
 device :led, :driver => :led, :pin => 13
 
 work do

data/examples/firmata_blink_led_with_toggle.rb

@@ -4,7 +4,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board 
+device :board, :driver => :firmata_board
 device :led, :driver => :led, :pin => 13
 
 work do

data/examples/firmata_dc_motor_speed.rb

@@ -3,22 +3,26 @@ require 'artoo'
 #Circuit's breadboard layout here: http://learn.adafruit.com/adafruit-arduino-lesson-13-dc-motors/breadboard-layout
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
-connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board
-device :motor, :driver => :motor, :pin => [nil, nil, 3] # Needs a PWM pin
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:4567'
+device :board, :driver => :firmata_board
+device :motor, :driver => :motor, :speed_pin => 3 # Use a PWM pin
 
 work do
-  board.connect
   puts "Firmware name: #{board.firmware_name}"
   puts "Firmata version: #{board.version}"
+  puts "Stopping motor..."
+  motor.min # same as 'motor.stop' or 'motor.speed(0)'
+  sleep 3
+  puts "Setting to maximum speed..."
+  motor.max # same as 'motor.start'
+  sleep 3
 
-  motor.stop
   speed = 0
   step = 50
 
-  every 4.seconds do
-    puts "Current speed: #{speed}"
-    motor.speed speed
+  every 3.seconds do
+    motor.speed(speed)
+    puts "Current speed: #{motor.current_speed}"
     speed += step
     if [0, 250].include?(speed)
       step = -step

data/examples/firmata_dc_motor_speed_h-bridge_2_pins.rb

@@ -0,0 +1,38 @@
+require 'artoo'
+
+#Circuit's breadboard layout for the L293D: http://www.electrojoystick.com/tutorial/?p=759
+#For the L239DNE: http://bit.ly/14QdjD5
+
+#connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :board, :driver => :firmata_board
+device :motor, :driver => :motor, 
+               :forward_pin  => 4, # Digital or PWM pin
+               :backward_pin => 2, # Digital or PWM pin
+               :speed_pin    => 9  # PWM pin only
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+  puts "Stopping motor..."
+  motor.stop
+  sleep 2
+
+  loop do
+    motor.forward # if no speed set, spins at max speed
+    puts "Going forward, Speed: #{motor.current_speed}"
+    sleep 3
+    motor.forward 180
+    puts "Going forward, Speed: #{motor.current_speed}"
+    sleep 3
+    puts "Stopping..."
+    motor.stop
+    sleep 2
+    motor.backward(150) # spins at speed 150
+    puts "Going backward, Speed: #{motor.current_speed}"
+    sleep 3
+    motor.backward(255)
+    puts "Going backward, Speed: #{motor.current_speed}"
+    sleep 3
+  end
+end

data/examples/firmata_dc_motor_switch.rb

@@ -0,0 +1,22 @@
+require 'artoo'
+
+#Circuit's breadboard layout here: http://learn.adafruit.com/adafruit-arduino-lesson-13-dc-motors/breadboard-layout
+
+#connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :board, :driver => :firmata_board
+device :motor, :driver => :motor, :switch_pin => 3 # Use a digital or PWM pin
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+  puts "Stopping motor..." #just in case
+  motor.stop
+  sleep 3
+
+  every 3.seconds do
+    motor.toggle
+    puts "Motor is #{motor.on? ? 'on' : 'off'}"
+  end
+
+end

data/examples/firmata_dc_motor_switch_h-bridge_2_pins.rb

@@ -0,0 +1,31 @@
+require 'artoo'
+
+#Circuit's breadboard layout for the L293D here: http://www.electrojoystick.com/tutorial/?p=759
+#For the L239DNE: http://bit.ly/14QdjD5,
+#   L293DNE's pin 1 should go to 5V instead of to Arduino's pin 9
+
+#connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :board, :driver => :firmata_board
+device :motor, :driver => :motor, :forward_pin => 4, :backward_pin => 2
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+  puts "Stopping motor..."
+  motor.stop
+  sleep 1
+
+  loop do
+    puts "Going forward..."
+    motor.forward
+    sleep 3
+    puts "Stopping..."
+    motor.stop
+    sleep 2
+    puts "Going backward..."
+    motor.backward
+    sleep 3
+  end
+
+end

data/examples/firmata_led_brightness.rb

@@ -4,7 +4,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board
+device :board, :driver => :firmata_board
 device :led, :driver => :led, :pin => 3
 
 brightness = 0

data/examples/firmata_maxbotix.rb

@@ -0,0 +1,21 @@
+require 'artoo'
+
+# Circuit and schematic here: http://www.electrojoystick.com/tutorial/?page_id=285
+
+#connection :firmata, :adaptor => :firmata, :port => '/dev/ttyACM0'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:4567'
+device :sonar, :driver => :maxbotix, :pin => 14, :interval => 0.5
+device :board, :driver => :firmata_board
+
+work do
+  on sonar, :range => :sonar_reading
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+  puts "Analog pins: #{board.analog_pins}"
+
+  puts "starting sonar..."
+end
+
+def sonar_reading(*args)
+  puts args
+end

data/examples/firmata_motor.rb

@@ -9,7 +9,7 @@ forward = true
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board
+device :board, :driver => :firmata_board
 device :motor, :driver => :motor, :pin => [leg1_pin, leg2_pin, speed_pin]
 
 work do

data/lib/artoo/drivers/firmata_board.rb

@@ -0,0 +1,10 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Board driver behaviors for Firmata
+    class FirmataBoard < Driver
+      COMMANDS = [:firmware_name, :version, :connect].freeze
+    end
+  end
+end

data/lib/artoo/drivers/maxbotix.rb

@@ -0,0 +1,67 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Maxbotix ultrasonic range finder driver behaviors for Firmata
+    class Maxbotix < Driver
+      attr_accessor :last_reading
+
+      COMMANDS = [:range].freeze
+
+      def initialize(params={})
+        @last_reading = 0.0
+        super
+      end
+
+      # @return [float] last range reading in inches
+      def range
+        return (( 254.0 / 1024.0 ) * 2.0 * last_reading).to_f
+      end
+
+      # @return [float] last range reading in cm
+      def range_cm
+        return ((last_reading / 2.0) * 2.54).to_f
+      end
+
+      # Sets values to read from ultrasonic range finder
+      # and starts driver
+      def start_driver
+        connection.set_pin_mode(pin, Firmata::PinModes::ANALOG)
+        connection.toggle_pin_reporting(pin)
+
+        every(interval) do
+          connection.read_and_process
+          handle_events
+        end
+
+        super
+      end
+
+      def handle_events
+        while i = find_event("analog_read_#{analog_pin}") do
+          event = events.slice!(i)
+          update(event.data.first) if !event.nil?
+        end
+      end
+
+      def find_event(name)
+        events.index {|e| e.name == name.to_sym}
+      end
+
+      def events
+        connection.async_events
+      end
+
+      # Publishes events according to the ultrasonic rangefinder value
+      def update(value)
+        @last_reading = value
+        publish(event_topic_name("update"), "range", range)
+        publish(event_topic_name("range"), range)
+      end
+
+      def analog_pin
+        pin - 14
+      end
+    end
+  end
+end

data/lib/artoo/drivers/motor.rb

@@ -2,21 +2,39 @@ 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
+      COMMANDS = [:stop, :start, :on?, :off?, :toggle, :speed, :min, :max, :forward, :backward, :current_speed].freeze
+
+      attr_reader :speed_pin, :switch_pin, :current_speed
 
-      # Create new Motor
       def initialize(params={})
         super
+        
+        additional_params = params[:additional_params]
+        @speed_pin = additional_params[:speed_pin]
+        @speed_pin = additional_params[:switch_pin] if additional_params[:switch_pin]
+
+        @forward_pin = additional_params[:forward_pin]
+        @backward_pin = additional_params[:backward_pin]
 
-        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_state = 0
         @current_speed = 0
+
+        # digital: just to switch the motor on or off, no speed control
+        # analog: speed control
+        @current_mode = :digital
+
+        @current_direction = :forward
+
+        @@modules_to_include = modules_to_include
+
+        class << self
+          @@modules_to_include.each do |m|
+            include m
+          end if @@modules_to_include
+        end
+
       end
 
       # Starts connection to read and process and driver
@@ -28,42 +46,134 @@ module Artoo
         super
       end
 
-      # Sets movement forward
-      # @param [Integer] s speed
-      def forward(s)
-        set_legs(Firmata::PinLevels::LOW, Firmata::PinLevels::HIGH)
-        speed(s)
+      def digital?
+        @current_mode == :digital
       end
-
-      # Sets movement backward
-      # @param [Integer] s speed
-      def backward(s)
-        set_legs(Firmata::PinLevels::HIGH, Firmata::PinLevels::LOW)
-        speed(s)
+      
+      def analog?
+        @current_mode == :analog
       end
 
-      # Stops
       def stop
-        speed(0)
+        if digital?
+          change_state(Firmata::PinLevels::LOW)
+        else
+          speed(0)
+        end
+      end
+
+      def start
+        if digital?
+          change_state(Firmata::PinLevels::HIGH)
+        else
+          speed(@current_speed.zero? ? 255 : @current_speed)
+        end
+      end
+
+      def min
+        stop
+      end
+
+      def max
+        speed(255)
+      end
+
+      def on?
+        if digital?
+          @current_state == Firmata::PinLevels::HIGH
+        else
+          @current_speed > 0
+        end
+      end
+
+      def off?
+        !on?
+      end
+
+      def toggle
+        on? ? stop : start
+      end
+
+      def change_state(state)
+        @current_state = state
+        @current_speed = state.zero? ? 0 : 255
+        connection.set_pin_mode(@speed_pin, Firmata::PinModes::OUTPUT)
+        connection.digital_write(@speed_pin, state)
       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
+      # @param [Integer] value (must be an integer between 0-255)
+      def speed(value)
+        @current_mode = :analog
+        raise "Motor speed must be an integer between 0-255" unless (value.is_a?(Numeric) && value >= 0 && value <= 255)
+        @current_speed = value
         connection.set_pin_mode(speed_pin, Firmata::PinModes::PWM)
-        connection.analog_write(speed_pin, s)
+        connection.analog_write(speed_pin, value)
+      end
+
+      private
+      def modules_to_include
+        if @forward_pin and @backward_pin
+          [BidirectionalWithForwardBackwardPins]
+        end
+      end
+    end
+
+    module BidirectionalWithForwardBackwardPins
+
+      # Sets movement forward
+      # @param [Integer] speed
+      def forward(speed = nil)
+        direction(:forward)
+        speed ? self.speed(speed) : start
+      end
+
+      # Sets movement backward
+      # @param [Integer] speed
+      def backward(speed = nil)
+        direction(:backward)
+        speed ? self.speed(speed) : start
+      end
+
+      def forward?
+        @current_direction == :forward
+      end
+
+      def backward?
+        (not forward?)
       end
 
       private
+      def change_state(state)
+        @current_state = state
+        @current_speed = state.zero? ? 0 : 255
+        if state == Firmata::PinLevels::HIGH
+          direction(@current_direction)
+          speed(@current_speed) if speed_pin
+        elsif state == Firmata::PinLevels::LOW
+          direction(:none)
+        end
+      end
 
-      def set_legs(l1, l2)
-        connection.set_pin_mode(leg1_pin, Firmata::PinModes::OUTPUT)
-        connection.digital_write(leg1_pin, l1)
-        connection.set_pin_mode(leg2_pin, Firmata::PinModes::OUTPUT)
-        connection.digital_write(leg2_pin, l2)
+      def direction(direction)
+        @current_direction = direction
+        case direction
+        when :forward
+          forward_pin_level = Firmata::PinLevels::HIGH
+          backward_pin_level = Firmata::PinLevels::LOW
+        when :backward
+          forward_pin_level = Firmata::PinLevels::LOW
+          backward_pin_level = Firmata::PinLevels::HIGH
+        when :none
+          forward_pin_level = Firmata::PinLevels::LOW
+          backward_pin_level = Firmata::PinLevels::LOW
+        end
+        connection.set_pin_mode(@forward_pin, Firmata::PinModes::OUTPUT)
+        connection.digital_write(@forward_pin, forward_pin_level)
+        connection.set_pin_mode(@backward_pin, Firmata::PinModes::OUTPUT)
+        connection.digital_write(@backward_pin, backward_pin_level)
       end
+
     end
   end
 end

data/lib/artoo-arduino/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Arduino
-    VERSION = '1.0.4'
+    VERSION = '1.0.5.pre'
   end
 end

data/test/drivers/firmata_board_test.rb

@@ -0,0 +1,21 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/firmata_board'
+
+describe Artoo::Drivers::FirmataBoard do
+  before do
+    @device = mock('device')
+    @board = Artoo::Drivers::FirmataBoard.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
+  end
+    
+  it 'FirmataBoard#firmware_name' do
+    @connection.expects(:firmware_name).returns("awesomenessware")
+    @board.firmware_name.must_equal "awesomenessware"
+  end
+
+  it 'FirmataBoard#version' do
+    @connection.expects(:version).returns("1.2.3")
+    @board.version.must_equal "1.2.3"
+  end
+end

data/test/drivers/maxbotix_test.rb

@@ -0,0 +1,25 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/maxbotix'
+
+describe Artoo::Drivers::Maxbotix do
+  before do
+    @device = mock('device')
+    @pin = 0
+    @device.stubs(:pin).returns(@pin)
+    @maxbotix = Artoo::Drivers::Maxbotix.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  describe '#range' do
+    it 'must have initial value' do
+      @maxbotix.range.must_equal 0.0
+    end
+
+    it 'must adjust based on last_reading' do
+      @maxbotix.last_reading = 13.5
+      @maxbotix.range.must_equal 6.697265625
+      @maxbotix.range_cm.must_equal 17.145
+    end
+  end
+end

data/test/drivers/motor_test.rb

@@ -2,39 +2,211 @@ require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
 require 'artoo/drivers/motor'
 
 describe Artoo::Drivers::Motor do
+
+  let(:connection) { mock('connection') }
+
   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)
+    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
+  describe 'mode predicate methods' do
+
+    let(:motor) { Artoo::Drivers::Motor.new(:parent => @device, :additional_params => {}) }
+
+    it '#digital?' do
+      motor.digital?.must_equal true #initial state
+      motor.speed(1)
+      motor.digital?.must_equal false
+    end
+
+    it '#analog?' do
+      motor.analog?.must_equal false
+      motor.speed(1)
+      motor.analog?.must_equal true
+    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
+  describe 'when unidirectional' do
+
+    describe 'when switching states (digital)' do
+
+      let(:motor) { Artoo::Drivers::Motor.new(:parent => @device, :additional_params => {switch_pin: 1}) }
+
+      it '#start' do
+        motor.start
+        motor.on?.must_equal true
+      end
+
+      it '#stop' do
+        motor.stop
+        motor.off?.must_equal true
+      end
+
+      it '#max' do
+        motor.expects(:speed).with(255)
+        motor.max
+      end
+
+      it '#min' do
+        motor.min
+      end
+
+      describe '#toggle' do
+        it 'toggles to on when off' do
+          motor.start
+          motor.toggle
+          motor.off?.must_equal true
+        end
+
+        it 'toggles to off when on' do
+          motor.stop
+          motor.toggle
+          motor.on?.must_equal true
+        end
+      end
+    end
+
+    describe 'when changing speed (analog)' do
+
+      let(:motor) { Artoo::Drivers::Motor.new(:parent => @device, :additional_params => {speed_pin: 3}) }
+
+      it '#speed' do
+        connection.expects(:set_pin_mode).with(3, 3)
+        connection.expects(:analog_write).with(3, 255)
+        motor.speed(255)
+      end
+
+      it '#start' do
+        motor.speed(0)
+        motor.start
+        motor.current_speed.must_equal 255
+      end
+
+      it '#stop' do
+        motor.speed(255)
+        motor.stop
+        motor.current_speed.must_equal 0
+      end
+
+      it '#max' do
+        motor.speed(0)
+        motor.max
+        motor.current_speed.must_equal 255
+      end
+
+      it '#min' do
+        motor.speed(255)
+        motor.min
+        motor.current_speed.must_equal 0
+      end
+
+      it '#on?' do
+        motor.speed(1)
+        motor.on?.must_equal true
+        motor.speed(0)
+        motor.on?.must_equal false
+      end
+
+      it '#off?' do
+        motor.speed(1)
+        motor.off?.must_equal false
+        motor.speed(0)
+        motor.off?.must_equal true
+      end
+    end
+
   end
 
-  it 'Motor#stop' do
-    @motor.stop
-    @motor.current_speed.must_equal 0
+  describe 'bididirectional' do
+
+    before do
+      connection.expects(:set_pin_mode).with(1, 1)
+      connection.expects(:set_pin_mode).with(2, 1)
+    end
+
+    let(:motor) { Artoo::Drivers::Motor.new(:parent => @device, 
+                                            :additional_params => 
+                                                {:forward_pin  => 1, 
+                                                 :backward_pin => 2}) }
+
+    describe '#forward' do
+
+      before do
+        connection.expects(:digital_write).with(1, 1)
+        connection.expects(:digital_write).with(2, 0)
+      end
+
+      describe 'when no parameter' do
+
+        it '#forward' do
+          motor.expects(:start)
+          motor.forward
+        end
+
+      end
+
+      describe 'when speed parameter' do
+
+        it '#forward' do
+          motor.expects(:speed).with(255)
+          motor.forward(255)
+        end
+
+      end
+
+    end
+
+    describe '#backward' do
+
+      before do
+        connection.expects(:digital_write).with(1, 0)
+        connection.expects(:digital_write).with(2, 1)
+      end
+
+      describe 'when no parameter' do
+
+        it '#backward' do
+          motor.expects(:start)
+          motor.backward
+        end
+
+      end
+
+      describe 'when speed parameter' do
+
+        it '#backward' do
+          motor.expects(:speed).with(255)
+          motor.backward(255)
+        end
+
+      end
+
+    end
   end
+
+
+  #it 'Motor#speed must be valid' do
+    #invalid_speed = lambda { @motor2 = Artoo::Drivers::Motor.new(:parent => @device, :additional_params => {}); @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.expects(:set_legs)
+    #@motor.forward(100)
+    #@motor.current_speed.must_equal 100
+  #end
+
+  #it 'Motor#backward' do
+    #@motor.expects(:set_legs)
+    #@motor.backward(100)
+    #@motor.current_speed.must_equal 100
+  #end
+
 end

data/test/test_helper.rb

@@ -4,3 +4,8 @@ require 'firmata'
 require 'artoo/robot'
 
 Celluloid.logger = nil
+
+MiniTest::Spec.before do
+  Celluloid.shutdown
+  Celluloid.boot
+end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo-arduino
 version: !ruby/object:Gem::Version
-  version: 1.0.4
+  version: 1.0.5.pre
 platform: ruby
 authors:
 - Ron Evans
@@ -10,7 +10,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-08-24 00:00:00.000000000 Z
+date: 2013-08-31 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -18,14 +18,14 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.0.0
+        version: 1.1.0.pre
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.0.0
+        version: 1.1.0.pre
 - !ruby/object:Gem::Dependency
   name: hybridgroup-firmata
   requirement: !ruby/object:Gem::Requirement
@@ -102,7 +102,11 @@ files:
 - examples/firmata_blink_led_with_toggle.rb
 - examples/firmata_button_and_led.rb
 - examples/firmata_dc_motor_speed.rb
+- examples/firmata_dc_motor_speed_h-bridge_2_pins.rb
+- examples/firmata_dc_motor_switch.rb
+- examples/firmata_dc_motor_switch_h-bridge_2_pins.rb
 - examples/firmata_led_brightness.rb
+- examples/firmata_maxbotix.rb
 - examples/firmata_motor.rb
 - examples/firmata_servo.rb
 - examples/firmata_wiichuck.rb
@@ -110,14 +114,18 @@ files:
 - lib/artoo-arduino/version.rb
 - lib/artoo/adaptors/firmata.rb
 - lib/artoo/drivers/button.rb
+- lib/artoo/drivers/firmata_board.rb
 - lib/artoo/drivers/led.rb
+- lib/artoo/drivers/maxbotix.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/firmata_board_test.rb
 - test/drivers/led_test.rb
+- test/drivers/maxbotix_test.rb
 - test/drivers/motor_test.rb
 - test/drivers/servo_test.rb
 - test/drivers/wiichuck_test.rb
@@ -138,9 +146,9 @@ required_ruby_version: !ruby/object:Gem::Requirement
       version: '0'
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
-  - - '>='
+  - - '>'
     - !ruby/object:Gem::Version
-      version: '0'
+      version: 1.3.1
 requirements: []
 rubyforge_project: artoo-arduino
 rubygems_version: 2.0.3