artoo-arduino 1.0.5.pre → 1.1.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/Gemfile.lock

@@ -1,35 +1,41 @@
 PATH
   remote: .
   specs:
-    artoo-arduino (1.0.5.pre)
-      artoo (~> 1.1.0.pre)
+    artoo-arduino (1.1.0)
+      artoo (~> 1.1.0)
       hybridgroup-firmata (~> 0.4.5)
+      littlewire (~> 0.9.7)
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.1.0.pre)
-      celluloid (~> 0.15.0.pre2)
-      celluloid-io (~> 0.15.0.pre2)
+    artoo (1.1.0)
+      celluloid (~> 0.15.0)
+      celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake (~> 10.0)
       reel (~> 0.4.0.pre)
       thor (~> 0.18.1)
-    celluloid (0.15.0.pre2)
-      timers (>= 1.0.0)
-    celluloid-io (0.15.0.pre2)
-      celluloid (>= 0.15.0.pre)
+    celluloid (0.15.1)
+      timers (~> 1.1.0)
+    celluloid-io (0.15.0)
+      celluloid (>= 0.15.0)
       nio4r (>= 0.5.0)
-    certified (0.1.1)
     coderay (1.0.9)
+    colorist (0.0.2)
     event_emitter (0.2.5)
-    http (0.4.0)
-      certified
+    ffi (1.9.0)
+    http (0.5.0.pre)
       http_parser.rb
-    http_parser.rb (0.5.3)
+    http_parser.rb (0.6.0.beta.2)
     hybridgroup-firmata (0.4.5)
       event_emitter
+    libusb (0.3.4)
+      ffi (>= 1.0)
+    littlewire (0.9.7)
+      colorist (>= 0.0.2)
+      libusb (>= 0.2.0)
     metaclass (0.0.1)
     method_source (0.8.2)
     minitest (5.0.1)
@@ -42,14 +48,13 @@ GEM
       coderay (~> 1.0.5)
       method_source (~> 0.8)
       slop (~> 3.4)
-    rack (1.5.2)
     rake (10.1.0)
-    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)
+    reel (0.4.0.pre4)
+      celluloid (>= 0.15.0)
+      celluloid-io (>= 0.15.0)
+      http (>= 0.5.0.pre)
+      http_parser.rb (>= 0.6.0.beta.2)
+      websocket_parser (>= 0.1.4)
     slop (3.4.6)
     thor (0.18.1)
     timers (1.1.0)

data/README.md

@@ -1,6 +1,6 @@
 # Artoo Adaptor For Arduino
 
-This repository contains the Artoo (http://artoo.io/) adaptor and drivers for the Arduino microcontroller (http://arduino.cc/) using the Firmata protocol (http://firmata.org).
+This repository contains the Artoo (http://artoo.io/) adaptor and drivers for Arduino and Arduino-compatible microcontrollers (http://arduino.cc/) using either the Firmata protocol (http://firmata.org) or the Little Wire protocol (http://littlewire.cc).
 
 Artoo is a open source micro-framework for robotics using Ruby.
 
@@ -8,6 +8,10 @@ For more information abut Artoo, check out our repo at https://github.com/hybrid
 
 [![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)
 
+This gem makes extensive use of the hybridgroup fork of the firmata gem (https://github.com/hybridgroup/firmata) thanks to [@hardbap](https://github.com/hardbap) with code borrrowed from the arduino_firmata gem (https://github.com/shokai/arduino_firmata) thanks to [@shokai](https://github.com/shokai)
+
+It also makes extensive use of the littlewire.rb gem (https://github.com/Bluebie/littlewire.rb) thanks to [@Bluebie](https://github.com/Bluebie)
+
 ## Installing
 
 ```
@@ -63,7 +67,7 @@ $ artoo connect scan
 Now you are ready to connect to the Arduino using a socket, such as in this example port 4567:
 
 ```
-artoo connect socat 4567 tty.USBABC
+artoo connect serial ttyACM0
 ```
 
 ### Ubuntu
@@ -85,9 +89,65 @@ $ ls /dev/ttyACM*
 Now you are ready to connect to the Arduino using the socket, in this example port 4567:
 
 ```
-artoo connect socat 4567 ttyACM0
+artoo connect serial ttyACM0 4567
+```
+
+### Windows
+
+Someone please fill in the blanks here...
+
+## Connecting to Digispark
+
+You can use Artoo with a Digispark (http://www.kickstarter.com/projects/digistump/digispark-the-tiny-arduino-enabled-usb-dev-board) ATTiny-based USB development board, that has the Little Wire (http://littlewire.cc/) protocol firmware installed. For instructions on how to install Little Wire on a Digispark check out http://digistump.com/board/index.php/topic,160.0.html
+
+### OSX
+
+The main steps are:
+- Plug in the Digispark to the USB port
+- Connect to the device via Artoo
+
+First plug the Digispark into your computer via the USB port. Then... (directions go here)
+
+### Ubuntu
+
+The main steps are:
+- Add a udev rule to allow access to the Digispark device
+- Plug in the Digispark to the USB port
+- Connect to the device via Artoo
+
+First, you must add a udev rule, so that Artoo can communicate with the USB device. Ubuntu and other modern Linux distibutions use udev to manage device files when USB devices are added and removed. By default, udev will create a device with read-only permission which will not allow to you download code. You must place the udev rules below into a file named /etc/udev/rules.d/49-micronucleus.rules.
+
+```
+# UDEV Rules for Micronucleus boards including the Digispark.
+# This file must be placed at:
+#
+# /etc/udev/rules.d/49-micronucleus.rules    (preferred location)
+#   or
+# /lib/udev/rules.d/49-micronucleus.rules    (req'd on some broken systems)
+#
+# After this file is copied, physically unplug and reconnect the board.
+#
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1781", ATTRS{idProduct}=="0c9f", MODE:="0666"
+KERNEL=="ttyACM*", ATTRS{idVendor}=="1781", ATTRS{idProduct}=="0c9f", MODE:="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+#
+# If you share your linux system with other users, or just don't like the
+# idea of write permission for everybody, you can replace MODE:="0666" with
+# OWNER:="yourusername" to create the device owned by you, or with
+# GROUP:="somegroupname" and mange access using standard unix groups.
 ```
 
+Thanks to [@bluebie](https://github.com/Bluebie) for these instructions! (https://github.com/Bluebie/micronucleus-t85/wiki/Ubuntu-Linux)
+
+Now plug the Digispark into your computer via the USB port.
+
+Once plugged in, use the `artoo connect scan` command with the  `-t usb` option to verify your connection info:
+
+```
+$ artoo connect scan -t usb
+```
+
+Now use the `ID` info returned to find the `product` and `vendor` ID's for the connection info Digispark in your Artoo code.
+
 ### Windows
 
 Someone please fill in the blanks here...

data/artoo-arduino.gemspec

@@ -11,6 +11,7 @@ Gem::Specification.new do |s|
   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.license     = 'Apache 2.0'
 
   s.rubyforge_project = "artoo-arduino"
 
@@ -19,8 +20,9 @@ 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', '~> 1.1.0.pre'
+  s.add_runtime_dependency 'artoo', '~> 1.1.0'
   s.add_runtime_dependency 'hybridgroup-firmata', '~> 0.4.5'
+  s.add_runtime_dependency 'littlewire', '~> 0.9.7'
   s.add_development_dependency 'minitest', '~> 5.0'
   s.add_development_dependency 'minitest-happy'
   s.add_development_dependency 'mocha', '~> 0.14.0'

data/examples/firmata_blink_led.rb

@@ -4,7 +4,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:4567'
-device :board, :driver => :firmata_board
+device :board, :driver => :board
 device :led, :driver => :led, :pin => 13
 
 work do

data/examples/firmata_blink_led_with_toggle.rb

@@ -4,12 +4,12 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board, :driver => :firmata_board
+device :board, :driver => :board
 device :led, :driver => :led, :pin => 13
 
 work do
   puts "Firmware name: #{board.firmware_name}"
-  puts "Firmata version: #{board.version}"
+  puts "Firmware version: #{board.version}"
 
   every 1.second do
     led.toggle

data/examples/firmata_dc_motor_speed.rb

@@ -4,7 +4,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:4567'
-device :board, :driver => :firmata_board
+device :board, :driver => :board
 device :motor, :driver => :motor, :speed_pin => 3 # Use a PWM pin
 
 work do

data/examples/firmata_dc_motor_speed_h-bridge_2_pins.rb

@@ -5,7 +5,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board, :driver => :firmata_board
+device :board, :driver => :board
 device :motor, :driver => :motor, 
                :forward_pin  => 4, # Digital or PWM pin
                :backward_pin => 2, # Digital or PWM pin

data/examples/firmata_dc_motor_switch.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, :driver => :firmata_board
+device :board, :driver => :board
 device :motor, :driver => :motor, :switch_pin => 3 # Use a digital or PWM pin
 
 work do

data/examples/firmata_dc_motor_switch_h-bridge_2_pins.rb

@@ -6,7 +6,7 @@ require 'artoo'
 
 #connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
 connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
-device :board, :driver => :firmata_board
+device :board, :driver => :board
 device :motor, :driver => :motor, :forward_pin => 4, :backward_pin => 2
 
 work do

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, :driver => :firmata_board
+device :board, :driver => :board
 device :led, :driver => :led, :pin => 3
 
 brightness = 0

data/examples/firmata_led_with_button_toggle.rb

@@ -0,0 +1,21 @@
+require 'artoo'
+
+# Circuit and schematic here: http://arduino.cc/en/tutorial/button
+
+#connection :firmata, :adaptor => :firmata, :port => '/dev/tty*'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+device :led, :driver => :led, :pin => 13
+device :button, :driver => :button, :pin => 2, :interval => 0.01
+
+work do
+  puts
+  puts "Press the button connected on pin #{button.pin}..."
+
+  on button, :push => proc {
+    if led.on?
+      led.off
+    else
+      led.on
+    end
+  }
+end

data/examples/firmata_maxbotix.rb

@@ -5,14 +5,13 @@ require 'artoo'
 #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
+device :board, :driver => :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
 

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, :driver => :firmata_board
+device :board, :driver => :board
 device :motor, :driver => :motor, :pin => [leg1_pin, leg2_pin, speed_pin]
 
 work do

data/examples/firmata_servo.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 => :board
 device :servo, :driver => :servo, :pin => 3 # pin must be a PWM pin
 
 work do

data/examples/littlewire_blink_led_with_toggle.rb

@@ -0,0 +1,17 @@
+require 'artoo'
+
+# Uses Digispark USB board (http://digistump.com/products/1) 
+# with Little Wire protocol (http://littlewire.cc)
+
+connection :digispark, :adaptor => :littlewire, :vendor => 0x1781, :product => 0x0c9f
+device :board, :driver => :board
+device :led, :driver => :led, :pin => 1
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmware version: #{board.version}"
+
+  every 1.second do
+    led.toggle
+  end
+end

data/examples/littlewire_button_and_led.rb

@@ -0,0 +1,16 @@
+require 'artoo'
+
+# Circuit and schematic here: http://arduino.cc/en/tutorial/button
+
+connection :digispark, :adaptor => :littlewire, :vendor => 0x1781, :product => 0x0c9f
+device :board, :driver => :board
+device :led, :driver => :led, :pin => 1
+device :button, :driver => :button, :pin => 0, :interval => 0.01
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmware version: #{board.version}"
+  puts "Press the button connected on pin #{button.pin}..."
+
+  on button, :push    => proc { led.toggle }
+end

data/examples/littlewire_dc_motor_speed.rb

@@ -0,0 +1,31 @@
+require 'artoo'
+
+#Circuit's breadboard layout here: http://learn.adafruit.com/adafruit-arduino-lesson-13-dc-motors/breadboard-layout
+
+connection :digispark, :adaptor => :littlewire, :vendor => 0x1781, :product => 0x0c9f
+device :board, :driver => :board
+device :motor, :driver => :motor, :speed_pin => 1 # Use a PWM pin
+
+work do
+  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
+
+  speed = 0
+  step = 50
+
+  every 3.seconds do
+    motor.speed(speed)
+    puts "Current speed: #{motor.current_speed}"
+    speed += step
+    if [0, 250].include?(speed)
+      step = -step
+    end
+  end
+end
+

data/examples/littlewire_maxbotix.rb

@@ -0,0 +1,19 @@
+require 'artoo'
+
+# Circuit and schematic here: http://www.electrojoystick.com/tutorial/?page_id=285
+
+connection :digispark, :adaptor => :littlewire, :vendor => 0x1781, :product => 0x0c9f
+device :sonar, :driver => :maxbotix, :pin => 0, :interval => 0.5
+device :board, :driver => :board
+
+work do
+  on sonar, :range => :sonar_reading
+
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+  puts "starting sonar..."
+end
+
+def sonar_reading(*args)
+  puts args[1] * 1000
+end

data/lib/artoo-arduino.rb

@@ -1,7 +1,8 @@
 require 'lib/artoo/adaptors/firmata'
+require 'lib/artoo/adaptors/littlewire'
 
-require 'lib/artoo/drivers/ardrone'
-require 'lib/artoo/drivers/ardrone_navigation'
-require 'lib/artoo/drivers/ardrone_video'
+%w{ button led motor servo wiichuck wiiclassic wiidriver }.each do |f|
+  require "lib/artoo/drivers/#{f}")
+end
 
 require 'lib/artoo-arduino/version'

data/lib/artoo-arduino/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Arduino
-    VERSION = '1.0.5.pre'
+    VERSION = '1.1.0'
   end
 end

data/lib/artoo/adaptors/firmata.rb

@@ -24,11 +24,74 @@ module Artoo
         super
       end
 
+      def digital_write(pin, level)
+        firmata.set_pin_mode(pin, ::Firmata::PinModes::OUTPUT)
+        firmata.digital_write(pin, convert_level(level))
+      end
+
+      def digital_read(pin)
+        firmata.set_pin_mode(pin, ::Firmata::PinModes::INPUT)
+        firmata.toggle_pin_reporting(pin)
+        firmata.read_and_process
+
+        value = nil
+        while i = find_event("digital_read_#{pin}")
+          event = events.slice!(i)
+          value = event.data.first if !event.nil?
+        end
+        value
+      end
+
+      def pwm_write(pin, level)
+        firmata.set_pin_mode(pin, ::Firmata::PinModes::PWM)
+        firmata.analog_write(pin, level)
+      end
+
+      def servo_write(pin, angle)
+        firmata.set_pin_mode(pin, ::Firmata::PinModes::SERVO)
+        firmata.analog_write(pin, angle)
+      end
+
+      def analog_read(pin)
+        firmata.set_pin_mode(pin, ::Firmata::PinModes::ANALOG)
+        firmata.toggle_pin_reporting(pin)
+        firmata.read_and_process
+
+        value = 0
+        while i = find_event("analog_read_#{to_analog_pin(pin)}") do
+          event = events.slice!(i)
+          value = event.data.first if !event.nil?
+        end
+        value
+      end
+
+      def to_analog_pin(pin)
+        pin - 14
+      end
+
+      def find_event(name)
+        events.index {|e| e.name == name.to_sym }
+      end
+
+      def events
+        firmata.async_events
+      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
+
+    protected
+      def convert_level(level)
+        case level
+        when :low
+          ::Firmata::PinLevels::LOW
+        when :high
+          ::Firmata::PinLevels::HIGH
+        end
+      end
     end
   end
 end

data/lib/artoo/adaptors/littlewire.rb

@@ -0,0 +1,63 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to Digispark or Littlewire device using Little Wire protocol
+    # @see http://littlewire.cc/
+    class Littlewire < Adaptor
+      attr_reader :littlewire, :vendor, :product, :usb
+
+      def initialize(params={})
+        super
+
+        params[:additional_params] ||= {}
+        @vendor = params[:additional_params][:vendor] || 0x1781
+        @product = params[:additional_params][:product] || 0x0c9f
+      end
+
+      # Creates connection with littlewire board
+      # @return [Boolean]
+      def connect
+        require 'littlewire' unless defined?(::LittleWire)
+        @littlewire = ::LittleWire.new(connect_to_usb)
+        super
+        return true
+      end
+
+      # Closes connection with littlewire board
+      # @return [Boolean]
+      def disconnect
+        littlewire.finished
+        super
+      end
+
+      # Returns firmware name of littlewire board
+      # @return [String]
+      def firmware_name
+        "Little Wire"
+      end
+
+      def digital_read(pin)
+        littlewire.digital_write(pin, true)
+        littlewire.digital_read(pin)
+      end
+
+      def pwm_write(pin, level)
+        littlewire.software_pwm_write(pin, level)
+      end
+
+      def connect_to_usb
+        @usb = LIBUSB::Context.new.devices(
+          :idVendor  => vendor,
+          :idProduct => product
+        ).first
+      end
+
+      # Uses method missing to call Littlewire methods
+      # @see https://github.com/Bluebie/littlewire.rb
+      def method_missing(method_name, *arguments, &block)
+        littlewire.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/{firmata_board.rb → board.rb}

@@ -2,8 +2,8 @@ require 'artoo/drivers/driver'
 
 module Artoo
   module Drivers
-    # Board driver behaviors for Firmata
-    class FirmataBoard < Driver
+    # Board driver behaviors
+    class Board < Driver
       COMMANDS = [:firmware_name, :version, :connect].freeze
     end
   end

data/lib/artoo/drivers/button.rb

@@ -2,7 +2,7 @@ require 'artoo/drivers/driver'
 
 module Artoo
   module Drivers
-    # Button driver behaviors for Firmata
+    # Button driver behaviors
     class Button < Driver
       COMMANDS = [:is_pressed?].freeze
 
@@ -11,48 +11,31 @@ module Artoo
 
       # @return [Boolean] True if pressed
       def is_pressed?
-        (@is_pressed ||= false) == true
+        (@pressed_val == 1) ? true : false
       end
 
-      # Sets values to read and write from button
-      # and starts driver
       def start_driver
-        connection.set_pin_mode(pin, Firmata::PinModes::INPUT)
-        connection.toggle_pin_reporting(pin)
+        @pressed_val = 0
 
         every(interval) do
-          connection.read_and_process
-          handle_events
+          new_value = connection.digital_read(pin)
+          update(new_value) if !new_value.nil? && new_value != is_pressed?
         end
 
         super
       end
 
-      def handle_events
-        while i = find_event("digital_read_#{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
-
+      private
       # 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)
+      def update(new_val)
+        if new_val == 1
+          @pressed_val = 1
+          publish(event_topic_name("update"), "push", new_val)
+          publish(event_topic_name("push"), new_val)
         else
-          @is_pressed = false
-          publish(event_topic_name("update"), "release", value)
-          publish(event_topic_name("release"), value)
+          @pressed_val = 0
+          publish(event_topic_name("update"), "release", new_val)
+          publish(event_topic_name("release"), new_val)
         end
       end
     end

data/lib/artoo/drivers/led.rb

@@ -5,8 +5,7 @@ module Artoo
     # The LED driver behaviors
     class Led < Driver
 
-      COMMANDS = [:firmware_name, :version,
-                  :on, :off, :toggle, 
+      COMMANDS = [:on, :off, :toggle, 
                   :brightness, 
                   :on?, :off?].freeze
 
@@ -14,6 +13,7 @@ module Artoo
         @is_on = false
         super
       end
+
       # @return [Boolean] True if on
       def on?
         @is_on
@@ -26,14 +26,14 @@ module Artoo
 
       # Sets led to level HIGH
       def on
-        change_state(pin, Firmata::PinLevels::HIGH)
+        change_state(pin, :high)
         @is_on = true
         true
       end
 
       # Sets led to level LOW
       def off
-        change_state(pin, Firmata::PinLevels::LOW)
+        change_state(pin, :low)
         @is_on = false
         true
       end
@@ -47,13 +47,11 @@ module Artoo
       # Change brightness level
       # @param [Integer] level
       def brightness(level=0)
-        connection.set_pin_mode(pin, Firmata::PinModes::PWM)
-        connection.analog_write(pin, level)
+        connection.pwm_write(pin, level)
       end
 
       private
       def change_state(pin, level)
-        connection.set_pin_mode(pin, Firmata::PinModes::OUTPUT)
         connection.digital_write(pin, level)
       end
     end

data/lib/artoo/drivers/maxbotix.rb

@@ -4,10 +4,10 @@ module Artoo
   module Drivers
     # Maxbotix ultrasonic range finder driver behaviors for Firmata
     class Maxbotix < Driver
-      attr_accessor :last_reading
-
       COMMANDS = [:range].freeze
 
+      attr_accessor :last_reading
+
       def initialize(params={})
         @last_reading = 0.0
         super
@@ -15,53 +15,30 @@ module Artoo
 
       # @return [float] last range reading in inches
       def range
-        return (( 254.0 / 1024.0 ) * 2.0 * last_reading).to_f
+        return ( 254.0 / 1024.0 ) * 2.0 * last_reading
       end
 
       # @return [float] last range reading in cm
       def range_cm
-        return ((last_reading / 2.0) * 2.54).to_f
+        return (last_reading / 2.0) * 2.54
       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
+          update(connection.analog_read(pin))
         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
+        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

@@ -13,12 +13,12 @@ module Artoo
         
         additional_params = params[:additional_params]
         @speed_pin = additional_params[:speed_pin]
-        @speed_pin = additional_params[:switch_pin] if additional_params[:switch_pin]
+        @switch_pin = additional_params[:switch_pin] if additional_params[:switch_pin]
 
         @forward_pin = additional_params[:forward_pin]
         @backward_pin = additional_params[:backward_pin]
 
-        @current_state = 0
+        @current_state = :low
         @current_speed = 0
 
         # digital: just to switch the motor on or off, no speed control
@@ -37,15 +37,6 @@ module Artoo
 
       end
 
-      # Starts connection to read and process and driver
-      def start_driver
-        every(interval) do
-          connection.read_and_process
-        end
-
-        super
-      end
-
       def digital?
         @current_mode == :digital
       end
@@ -56,7 +47,7 @@ module Artoo
 
       def stop
         if digital?
-          change_state(Firmata::PinLevels::LOW)
+          change_state(:low)
         else
           speed(0)
         end
@@ -64,7 +55,7 @@ module Artoo
 
       def start
         if digital?
-          change_state(Firmata::PinLevels::HIGH)
+          change_state(:high)
         else
           speed(@current_speed.zero? ? 255 : @current_speed)
         end
@@ -80,7 +71,7 @@ module Artoo
 
       def on?
         if digital?
-          @current_state == Firmata::PinLevels::HIGH
+          @current_state == :high
         else
           @current_speed > 0
         end
@@ -96,8 +87,7 @@ module Artoo
 
       def change_state(state)
         @current_state = state
-        @current_speed = state.zero? ? 0 : 255
-        connection.set_pin_mode(@speed_pin, Firmata::PinModes::OUTPUT)
+        @current_speed = state == :low ? 0 : 255
         connection.digital_write(@speed_pin, state)
       end
 
@@ -107,8 +97,7 @@ module Artoo
         @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, value)
+        connection.pwm_write(speed_pin, value)
       end
 
       private
@@ -147,10 +136,10 @@ module Artoo
       def change_state(state)
         @current_state = state
         @current_speed = state.zero? ? 0 : 255
-        if state == Firmata::PinLevels::HIGH
+        if state == :high
           direction(@current_direction)
           speed(@current_speed) if speed_pin
-        elsif state == Firmata::PinLevels::LOW
+        elsif state == :low
           direction(:none)
         end
       end
@@ -159,18 +148,17 @@ module Artoo
         @current_direction = direction
         case direction
         when :forward
-          forward_pin_level = Firmata::PinLevels::HIGH
-          backward_pin_level = Firmata::PinLevels::LOW
+          forward_pin_level = :high
+          backward_pin_level = :low
         when :backward
-          forward_pin_level = Firmata::PinLevels::LOW
-          backward_pin_level = Firmata::PinLevels::HIGH
+          forward_pin_level = :low
+          backward_pin_level = :high
         when :none
-          forward_pin_level = Firmata::PinLevels::LOW
-          backward_pin_level = Firmata::PinLevels::LOW
+          forward_pin_level = :low
+          backward_pin_level = :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
 

data/lib/artoo/drivers/servo.rb

@@ -15,23 +15,13 @@ module Artoo
         @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::PinModes::SERVO)
-        connection.analog_write(pin, angle_to_span(angle))
+        connection.servo_write(pin, angle_to_span(angle))
       end
 
       # Moves to min position

data/test/adaptors/littlewire_test.rb

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

data/test/drivers/firmata_board_test.rb

@@ -1,20 +1,20 @@
 require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/firmata_board'
+require 'artoo/drivers/board'
 
-describe Artoo::Drivers::FirmataBoard do
+describe Artoo::Drivers::Board do
   before do
     @device = mock('device')
-    @board = Artoo::Drivers::FirmataBoard.new(:parent => @device)
+    @board = Artoo::Drivers::Board.new(:parent => @device)
     @connection = mock('connection')
     @device.stubs(:connection).returns(@connection)
   end
     
-  it 'FirmataBoard#firmware_name' do
+  it 'Board#firmware_name' do
     @connection.expects(:firmware_name).returns("awesomenessware")
     @board.firmware_name.must_equal "awesomenessware"
   end
 
-  it 'FirmataBoard#version' do
+  it 'Board#version' do
     @connection.expects(:version).returns("1.2.3")
     @board.version.must_equal "1.2.3"
   end

data/test/drivers/led_test.rb

@@ -12,21 +12,16 @@ describe Artoo::Drivers::Led do
   end
 
   describe 'state switching' do
-
-    before do
-      @connection.expects(:set_pin_mode).with(@pin, Firmata::PinModes::OUTPUT)
-    end
-
     describe '#on' do
       it 'must turn the led on' do
-        @connection.expects(:digital_write).with(@pin, Firmata::PinLevels::HIGH)
+        @connection.expects(:digital_write).with(@pin, :high)
         @led.on
       end
     end
 
     describe '#off' do
       it 'must turn the led off' do
-        @connection.expects(:digital_write).with(@pin, Firmata::PinLevels::LOW)
+        @connection.expects(:digital_write).with(@pin, :low)
         @led.off
       end
     end
@@ -79,16 +74,13 @@ describe Artoo::Drivers::Led do
   describe '#brightness' do
     it 'must change the brightness of the led' do
       val = 100
-      @connection.expects(:set_pin_mode).with(@pin, Firmata::PinModes::PWM)
-      @connection.expects(:analog_write).with(@pin, val)
+      @connection.expects(:pwm_write).with(@pin, val)
       @led.brightness(val)
     end
   end
 
   describe '#commands' do
     it 'must contain all the necessary commands' do
-      @led.commands.must_include :firmware_name
-      @led.commands.must_include :version
       @led.commands.must_include :on
       @led.commands.must_include :off
       @led.commands.must_include :toggle

data/test/drivers/motor_test.rb

@@ -7,8 +7,7 @@ describe Artoo::Drivers::Motor do
 
   before do
     @device = mock('device')
-    connection.stubs(:set_pin_mode)
-    connection.stubs(:analog_write)
+    connection.stubs(:pwm_write)
     connection.stubs(:digital_write)
     @device.stubs(:connection).returns(connection)
   end
@@ -76,8 +75,7 @@ describe Artoo::Drivers::Motor 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)
+        connection.expects(:pwm_write).with(3, 255)
         motor.speed(255)
       end
 
@@ -123,12 +121,6 @@ describe Artoo::Drivers::Motor do
   end
 
   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, 
@@ -137,8 +129,8 @@ describe Artoo::Drivers::Motor do
     describe '#forward' do
 
       before do
-        connection.expects(:digital_write).with(1, 1)
-        connection.expects(:digital_write).with(2, 0)
+        connection.expects(:digital_write).with(1, :high)
+        connection.expects(:digital_write).with(2, :low)
       end
 
       describe 'when no parameter' do
@@ -164,8 +156,8 @@ describe Artoo::Drivers::Motor do
     describe '#backward' do
 
       before do
-        connection.expects(:digital_write).with(1, 0)
-        connection.expects(:digital_write).with(2, 1)
+        connection.expects(:digital_write).with(1, :low)
+        connection.expects(:digital_write).with(2, :high)
       end
 
       describe 'when no parameter' do

data/test/drivers/servo_test.rb

@@ -8,9 +8,7 @@ describe Artoo::Drivers::Servo do
     @servo = Artoo::Drivers::Servo.new(:parent => @device)
 
     @connection = mock('connection')
-    @connection.stubs(:set_pin_mode)
-    @connection.stubs(:analog_write)
-    # @connection.stubs(:digital_write)
+    @connection.stubs(:servo_write)
     @device.stubs(:connection).returns(@connection)
   end
 

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo-arduino
 version: !ruby/object:Gem::Version
-  version: 1.0.5.pre
+  version: 1.1.0
 platform: ruby
 authors:
 - Ron Evans
@@ -10,7 +10,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-08-31 00:00:00.000000000 Z
+date: 2013-09-07 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -18,14 +18,14 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.1.0.pre
+        version: 1.1.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.1.0.pre
+        version: 1.1.0
 - !ruby/object:Gem::Dependency
   name: hybridgroup-firmata
   requirement: !ruby/object:Gem::Requirement
@@ -40,6 +40,20 @@ dependencies:
     - - ~>
       - !ruby/object:Gem::Version
         version: 0.4.5
+- !ruby/object:Gem::Dependency
+  name: littlewire
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.9.7
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.9.7
 - !ruby/object:Gem::Dependency
   name: minitest
   requirement: !ruby/object:Gem::Requirement
@@ -106,15 +120,21 @@ files:
 - examples/firmata_dc_motor_switch.rb
 - examples/firmata_dc_motor_switch_h-bridge_2_pins.rb
 - examples/firmata_led_brightness.rb
+- examples/firmata_led_with_button_toggle.rb
 - examples/firmata_maxbotix.rb
 - examples/firmata_motor.rb
 - examples/firmata_servo.rb
 - examples/firmata_wiichuck.rb
+- examples/littlewire_blink_led_with_toggle.rb
+- examples/littlewire_button_and_led.rb
+- examples/littlewire_dc_motor_speed.rb
+- examples/littlewire_maxbotix.rb
 - lib/artoo-arduino.rb
 - lib/artoo-arduino/version.rb
 - lib/artoo/adaptors/firmata.rb
+- lib/artoo/adaptors/littlewire.rb
+- lib/artoo/drivers/board.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
@@ -123,6 +143,7 @@ files:
 - lib/artoo/drivers/wiiclassic.rb
 - lib/artoo/drivers/wiidriver.rb
 - test/adaptors/firmata_test.rb
+- test/adaptors/littlewire_test.rb
 - test/drivers/firmata_board_test.rb
 - test/drivers/led_test.rb
 - test/drivers/maxbotix_test.rb
@@ -133,7 +154,8 @@ files:
 - test/drivers/wiidriver_test.rb
 - test/test_helper.rb
 homepage: https://github.com/hybridgroup/artoo-arduino
-licenses: []
+licenses:
+- Apache 2.0
 metadata: {}
 post_install_message: 
 rdoc_options: []
@@ -146,9 +168,9 @@ required_ruby_version: !ruby/object:Gem::Requirement
       version: '0'
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
-  - - '>'
+  - - '>='
     - !ruby/object:Gem::Version
-      version: 1.3.1
+      version: '0'
 requirements: []
 rubyforge_project: artoo-arduino
 rubygems_version: 2.0.3