brick-pi 0.0.1 → 0.1.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -2,14 +2,21 @@
 
 ruby wrappers for the BrickPi Lego Mindstorms C library
 
-TODO: Write a gem description
-TODO: Tag, version, and publish as gem
+## What you need:
+
+You need to have a few things to use this:
+
+ - The wonderful [BrickPi](http://www.dexterindustries.com/BrickPi.html) from Dexter Industries
+ - A Raspberry Pi (if you didn't get one with the BrickPi)
+ - Lego Mindstorms NXT 2.0 motors and/or sensors
 
 ## Installation
 
+**Note: This gem will currently only install on a Raspberry Pi set up with BrickPi software. It relies on the `WiringPi.h` C program to function and compile.
+
 Add this line to your application's Gemfile:
 
-    gem 'brick_pi'
+    gem 'brick-pi'
 
 And then execute:
 
@@ -17,7 +24,7 @@ And then execute:
 
 Or install it yourself as:
 
-    $ gem install brick_pi
+    $ gem install brick-pi
 
 ## Usage
 

data/ext/brick_pi/native.c

@@ -5,6 +5,11 @@
 VALUE bprb_BrickPiSetup(VALUE self) {
     return INT2FIX(BrickPiSetup());
 }
+
+VALUE bprb_BrickPiSetupSensors(VALUE self) {
+    return INT2FIX(BrickPiSetupSensors());
+}
+
 VALUE bprb_ClearTick(VALUE self) {
     return INT2FIX(ClearTick());
 }
@@ -32,6 +37,22 @@ VALUE bprb_Timeout_set(VALUE self, VALUE timeout) {
     return timeout;
 }
 
+VALUE bprb_SensorType_set(VALUE self, VALUE key, VALUE value) {
+    int index = FIX2INT(key);
+    BrickPi.SensorType[index] = FIX2INT(value);
+    return value;
+}
+
+VALUE bprb_Sensor_get(VALUE self, VALUE key) {
+    int index = FIX2INT(key);
+    return INT2FIX(BrickPi.Sensor[index]);
+}
+
+VALUE bprb_Encoder_get(VALUE self, VALUE key) {
+    int index = FIX2INT(key);
+    return INT2FIX(BrickPi.Encoder[index]);
+}
+
 VALUE bprb_BrickPiSetTimeout(VALUE self) {
     return INT2FIX(BrickPiSetTimeout());
 }
@@ -44,6 +65,7 @@ void Init_native() {
     VALUE BrickPi = rb_define_module("BrickPi");
     VALUE Native = rb_define_module_under(BrickPi, "Native");
     rb_define_singleton_method(Native, "BrickPiSetup", bprb_BrickPiSetup, 0);
+    rb_define_singleton_method(Native, "BrickPiSetupSensors", bprb_BrickPiSetupSensors, 0);
     rb_define_singleton_method(Native, "ClearTick", bprb_ClearTick, 0);
     VALUE MotorSpeed = rb_define_module_under(Native, "MotorSpeed");
     rb_define_singleton_method(MotorSpeed, "[]=", bprb_MotorSpeed_set, 2);
@@ -51,6 +73,13 @@ void Init_native() {
     rb_define_singleton_method(MotorEnable, "[]=", bprb_MotorEnable_set, 2);
     VALUE Address = rb_define_module_under(Native, "Address");
     rb_define_singleton_method(Address, "[]=", bprb_Address_set, 2);
+    VALUE SensorType = rb_define_module_under(Native, "SensorType");
+    rb_define_singleton_method(SensorType, "[]=", bprb_SensorType_set, 2);
+    VALUE Sensor = rb_define_module_under(Native, "Sensor");
+    rb_define_singleton_method(Sensor, "[]", bprb_Sensor_get, 1);
+    VALUE Encoder = rb_define_module_under(Native, "Encoder");
+    rb_define_singleton_method(Encoder, "[]", bprb_Encoder_get, 1);
+
     rb_define_singleton_method(Native, "Timeout=", bprb_Timeout_set, 1);
     rb_define_singleton_method(Native, "BrickPiSetTimeout", bprb_BrickPiSetTimeout, 0);
     rb_define_singleton_method(Native, "BrickPiUpdateValues", bprb_BrickPiUpdateValues, 0);
@@ -62,4 +91,13 @@ void Init_native() {
     rb_define_const(Native, "PORT_2", INT2FIX(1));
     rb_define_const(Native, "PORT_3", INT2FIX(2));
     rb_define_const(Native, "PORT_4", INT2FIX(3));
+    rb_define_const(Native, "US_PORT", INT2FIX(2));
+    rb_define_const(Native, "TYPE_SENSOR_TOUCH", INT2FIX(32));
+    rb_define_const(Native, "TYPE_SENSOR_ULTRASONIC_CONT", INT2FIX(33));
+    rb_define_const(Native, "TYPE_SENSOR_ULTRASONIC_SS", INT2FIX(34));
+    rb_define_const(Native, "TYPE_SENSOR_COLOR_FULL", INT2FIX(36));
+    rb_define_const(Native, "TYPE_SENSOR_COLOR_RED", INT2FIX(37));
+    rb_define_const(Native, "TYPE_SENSOR_COLOR_GREEN", INT2FIX(38));
+    rb_define_const(Native, "TYPE_SENSOR_COLOR_BLUE", INT2FIX(39));
+    rb_define_const(Native, "TYPE_SENSOR_COLOR_NONE", INT2FIX(40));
 }

data/lib/brick_pi/bot.rb

@@ -3,7 +3,7 @@ include BrickPi
 
 module BrickPi
   class Bot
-    attr_accessor :motor1, :motor2
+    attr_accessor :motor1, :motor2, :motor3, :motor4
 
     def initialize
       Native.BrickPiSetup()

data/lib/brick_pi/motor.rb

@@ -12,6 +12,12 @@ module BrickPi
       Native::MotorSpeed[@port] = motor_speed
     end
 
+    # Encoder reads the position of the motor in .5-degree increments,
+    # Divide by 2 to get degrees
+    def position
+      Native::Encoder[@port] / 2
+    end
+
     def stop
       spin 0
     end

data/lib/brick_pi/sensor.rb

@@ -0,0 +1,32 @@
+module BrickPi
+  class Sensor
+    SENSOR_TYPES = {
+      touch: Native::TYPE_SENSOR_TOUCH,
+      ultrasonic: Native::TYPE_SENSOR_ULTRASONIC_CONT,
+      color: Native::TYPE_SENSOR_COLOR_FULL,
+      color_red: Native::TYPE_SENSOR_COLOR_RED,
+      color_green: Native::TYPE_SENSOR_COLOR_GREEN,
+      color_blue: Native::TYPE_SENSOR_COLOR_BLUE,
+      color_none: Native::TYPE_SENSOR_COLOR_NONE
+    }
+
+    PORTS = {
+      port_1: Native::PORT_1,
+      port_2: Native::PORT_2,
+      port_3: Native::PORT_3,
+      port_4: Native::PORT_4
+    }
+
+    # So you can be all like `BrickPi::Sensor.new(:port_3, :ultrasonic)`
+    def initialize(port, sensor_type)
+      @port = port
+      @sensor_type = sensor_type
+      Native::SensorType[PORT_MAP[@port]] = SENSOR_TYPES[@sensor_type]
+      Native::BrickPiSetupSensors()
+    end
+
+    def read
+      Native::Sensor[@port]
+    end
+  end
+end

data/lib/brick_pi/version.rb

@@ -1,3 +1,3 @@
 module BrickPi
-  VERSION = "0.0.1"
+  VERSION = "0.1.0"
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: brick-pi
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.1.0
 platform: ruby
 authors:
 - Brandon Hays
@@ -63,6 +63,7 @@ files:
 - lib/brick_pi.rb
 - lib/brick_pi/bot.rb
 - lib/brick_pi/motor.rb
+- lib/brick_pi/sensor.rb
 - lib/brick_pi/version.rb
 homepage: ''
 licenses: