brick-pi 0.1.1 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/.rspec

@@ -0,0 +1,2 @@
+--color
+--format progress

data/README.md

@@ -2,6 +2,12 @@
 
 ruby wrappers for the BrickPi Lego Mindstorms C library
 
+## Issues
+
+I use HuBoard to manage GitHub issues. It's pretty awesome, check it out here:
+
+https://huboard.com/tehviking/brick_pi_ruby/
+
 ## What you need:
 
 You need to have a few things to use this:
@@ -28,7 +34,9 @@ Or install it yourself as:
 
 ## Usage
 
-Currently, you only get a set of primitives to run motors. Expect more functionality around sensors and a more robust library supporting various configurations (e.g. 2-tracked vehicle).
+### Motors
+
+Currently, you only get a set of primitives to run motors. Expect a more robust library supporting various configurations (e.g. 2-tracked vehicle) later on.
 
 The Bot object starts and stops the robot. It contains 4 Motor objects, mapped to port A-D on your BrickPi.
 
@@ -37,20 +45,24 @@ Here's a quick & dirty script to spin a motor:
 ```ruby
 require 'brick_pi'
 
-# Instantiate the Bot
-bot = BrickPi::Bot.new
-
-# Set the speed for a motor, on a scale of 0 - 100
-bot.motor1.spin 50
+# Create a bot with a motor on port A
+bot = BrickPi.create do |bot|
+  bot.motor :port_A
+end
 
 # Get this party started
-bot.start
+bot.run do
 
-# Stop a single motor
-bot.motor1.stop
+  # Set the speed for a motor, on a scale of 0 - 100
+  bot.motor_A.spin 50
 
-# Stop all functions for a bot
-bot.stop
+  # Run the motor for 1 second
+  sleep 1
+
+  # Stop a single motor
+  bot.motor_A.stop
+
+end
 ```
 
 Once your bot is started, you can change the speed or direction of the motors at any time with the `Motor#spin` method.
@@ -64,41 +76,63 @@ require "highline/system_extensions"
 include HighLine::SystemExtensions
 HighLine::SystemExtensions.raw_no_echo_mode
 
-bot = BrickPi::Bot.new
-bot.start
-
-speed = 20
-loop do
-  char = HighLine::SystemExtensions.get_character
-  case char.chr
-  when 'w'
-    bot.motor1.spin speed
-    bot.motor2.spin speed
-  when 'd'
-    bot.motor1.spin speed
-    bot.motor2.spin 0 - speed
-  when 'a'
-    bot.motor1.spin 0 - speed
-    bot.motor2.spin speed
-  when 'x'
-    bot.motor1.spin 0 - speed
-    bot.motor2.spin 0 - speed
-  when 'o'
-    if speed >=0 && speed <= 80
-      speed += 20
-    end
-  when 'l'
-    if speed > 20 && speed <= 100
-      speed -= 20
+# Create a bot with two motors
+bot = BrickPi.create do |bot|
+  bot.motor :port_A
+  bot.motor :port_B
+end
+
+bot.run do
+
+  speed = 20
+  loop do
+    char = HighLine::SystemExtensions.get_character
+    case char.chr
+    when 'w'
+      bot.motor_A.spin speed
+      bot.motor_B.spin speed
+    when 'd'
+      bot.motor_A.spin speed
+      bot.motor_B.spin 0 - speed
+    when 'a'
+      bot.motor_A.spin 0 - speed
+      bot.motor_B.spin speed
+    when 'x'
+      bot.motor_A.spin 0 - speed
+      bot.motor_B.spin 0 - speed
+    when 'o'
+      if speed >=0 && speed <= 80
+        speed += 20
+      end
+    when 'l'
+      if speed > 20 && speed <= 100
+        speed -= 20
+      end
+    when 'e', 'c', 'z', 'q'
+      bot.motor_A.stop
+      bot.motor_B.stop
     end
-  when 'e', 'c', 'z', 'q'
-    bot.motor1.stop
-    bot.motor2.stop
+    sleep(5 / 1000)
   end
-  sleep(5 / 1000)
 end
 ```
 
+### Sensors
+
+You can read values from sensors by doing something like this:
+
+```
+bot = BrickPi.create do |bot|
+  bot.touch_sensor :port_1
+end
+bot.run do
+  bot.sensor_1.read
+end
+```
+
+See the scripts in the `examples` directory for more details.
+
+
 ## Contributing
 
 1. Fork it ( https://github.com/tehviking/brick_pi/fork )

data/brick_pi.gemspec

@@ -20,4 +20,5 @@ Gem::Specification.new do |spec|
   spec.extensions    = ["ext/brick_pi/extconf.rb"]
   spec.add_development_dependency "bundler", "~> 1.6"
   spec.add_development_dependency "rake"
+  spec.add_development_dependency "rspec"
 end

data/examples/motors.rb

@@ -0,0 +1,24 @@
+#!/usr/bin/env ruby
+
+require 'brick_pi'
+
+# Instantiate the Bot
+bot = BrickPi.create do |bot|
+  bot.motor :port_B
+  bot.motor :port_C
+end
+
+# Get this party started
+bot.run do
+
+  # Half speed on both motors. Max value is 100.
+  bot.motor_B.spin 50
+  bot.motor_C.spin 50
+
+  sleep 5
+
+  # Stop motors
+  bot.motor_B.stop
+  bot.motor_C.stop
+
+end

data/examples/touch_sensor.rb

@@ -0,0 +1,17 @@
+#!/usr/bin/env ruby
+
+require 'brick_pi'
+
+bot = BrickPi.create do |bot|
+  bot.touch_sensor :port_1
+end
+
+bot.run do
+  puts "waiting..."
+
+  until bot.sensor_1.touched?
+    # nothing - just wait for a touch
+  end
+
+  puts "touched!"
+end

data/examples/ultrasonic_sensor.rb

@@ -0,0 +1,15 @@
+#!/usr/bin/env ruby
+
+require 'brick_pi'
+
+bot = BrickPi.create do |bot|
+  bot.ultrasonic_sensor :port_1
+end
+
+bot.run do
+
+  while true
+    puts bot.sensor_1.distance
+  end
+
+end

data/lib/brick_pi.rb

@@ -1,5 +1,6 @@
 require "brick_pi/version"
 require "brick_pi/native"
+require "brick_pi/configuration"
 require "brick_pi/bot"
 require "brick_pi/motor"
 require "brick_pi/sensor"

data/lib/brick_pi/bot.rb

@@ -3,18 +3,14 @@ include BrickPi
 
 module BrickPi
   class Bot
-    attr_accessor :motor1, :motor2, :motor3, :motor4, :sensor1, :sensor2, :sensor3, :sensor4
+
+    include BrickPi::Configuration
+
+    attr_accessor :motor_A, :motor_B, :motor_C, :motor_D
+    attr_accessor :sensor_1, :sensor_2, :sensor_3, :sensor_4
 
     def initialize
       Native.BrickPiSetup()
-      @motor1 = ::BrickPi::Motor.new(Native::PORT_A)
-      @motor2 = ::BrickPi::Motor.new(Native::PORT_B)
-      @motor3 = ::BrickPi::Motor.new(Native::PORT_C)
-      @motor4 = ::BrickPi::Motor.new(Native::PORT_D)
-      @sensor1 = nil
-      @sensor2 = nil
-      @sensor3 = nil
-      @sensor4 = nil
       Native::Address[0] = 1
       Native::Address[1] = 2
     end
@@ -36,5 +32,12 @@ module BrickPi
     def stop
       @stop = true
     end
+
+    def run
+      start
+      yield
+      stop
+    end
+
   end
 end

data/lib/brick_pi/configuration.rb

@@ -0,0 +1,55 @@
+module BrickPi
+
+  def self.create &block
+    bot = BrickPi::Bot.new
+    bot.configure &block
+    bot
+  end
+
+  module Configuration
+
+    def configure &block
+      yield self
+    end
+
+    def motor(port)
+      case port
+      when :port_A
+        @motor_A = BrickPi::Motor.new(Native::PORT_A)
+      when :port_B
+        @motor_B = BrickPi::Motor.new(Native::PORT_B)
+      when :port_C
+        @motor_C = BrickPi::Motor.new(Native::PORT_C)
+      when :port_D
+        @motor_D = BrickPi::Motor.new(Native::PORT_D)
+      end
+    end
+
+    def sensor(port, sensor_type)
+      case port
+      when :port_1
+        @sensor_1 = BrickPi::Sensor.new(:port_1, sensor_type)
+      when :port_2
+        @sensor_2 = BrickPi::Sensor.new(:port_2, sensor_type)
+      when :port_3
+        @sensor_3 = BrickPi::Sensor.new(:port_3, sensor_type)
+      when :port_4
+        @sensor_4 = BrickPi::Sensor.new(:port_4, sensor_type)
+      end
+    end
+
+    def touch_sensor(port)
+      sensor(port, :touch)
+    end
+
+    def ultrasonic_sensor(port)
+      sensor(port, :ultrasonic)
+    end
+
+    def color_sensor(port)
+      sensor(port, :color)
+    end
+
+  end
+
+end

data/lib/brick_pi/sensor.rb

@@ -26,7 +26,18 @@ module BrickPi
     end
 
     def read
-      Native::Sensor[PORT_MAP[@port]]
+      Native::Sensor[PORT_MAP[@port]] if @port
     end
+
+    # Nice friendly access methods for different sensors types
+
+    def touched?
+      @sensor_type == :touch && read == 1
+    end
+
+    def distance
+      read if @sensor_type == :ultrasonic
+    end
+
   end
 end

data/lib/brick_pi/version.rb

@@ -1,3 +1,3 @@
 module BrickPi
-  VERSION = "0.1.1"
+  VERSION = "0.2.0"
 end

data/spec/lib/configuration_spec.rb

@@ -0,0 +1,75 @@
+require 'spec_helper'
+
+require 'brick_pi/configuration'
+
+# Stub classes for testing
+# Needed because otherwise native stuff gets in the way on non-brickpi machines
+
+class BrickPi::Bot
+  include BrickPi::Configuration
+  attr_accessor :motor_A, :motor_B, :motor_C, :motor_D
+  attr_accessor :sensor_1, :sensor_2, :sensor_3, :sensor_4
+end
+module Native
+  PORT_A = 0
+  PORT_B = 1
+  PORT_C = 2
+  PORT_D = 3
+end
+class BrickPi::Motor
+  attr_accessor :port
+  def initialize(port)
+    @port = port
+  end
+end
+class BrickPi::Sensor
+  attr_accessor :port, :sensor_type
+  def initialize(port, sensor_type)
+    @port = port
+    @sensor_type = sensor_type
+  end
+end
+
+# Test configuration block
+
+describe BrickPi::Configuration do
+
+  it "should configure motors" do
+
+    # Initialise bot using DSL
+    bot = BrickPi.create do |bot|
+      bot.motor :port_B
+      bot.motor :port_C
+    end
+
+    # Check bot was created right
+    bot.should_not be_nil
+    bot.motor_A.should be_nil
+    bot.motor_B.port.should eql Native::PORT_B
+    bot.motor_C.port.should eql Native::PORT_C
+    bot.motor_D.should be_nil
+
+  end
+
+  it "should configure sensors" do
+
+    # Initialise bot using DSL
+    bot = BrickPi.create do |bot|
+      bot.touch_sensor :port_1
+      bot.ultrasonic_sensor :port_2
+      bot.color_sensor :port_3
+    end
+
+    # Check bot was created right
+    bot.should_not be_nil
+    bot.sensor_1.port.should == :port_1
+    bot.sensor_1.sensor_type.should == :touch
+    bot.sensor_2.port.should == :port_2
+    bot.sensor_2.sensor_type.should == :ultrasonic
+    bot.sensor_3.port.should == :port_3
+    bot.sensor_3.sensor_type.should == :color
+    bot.sensor_4.should be_nil
+
+  end
+
+end

data/spec/spec_helper.rb

@@ -0,0 +1,17 @@
+# This file was generated by the `rspec --init` command. Conventionally, all
+# specs live under a `spec` directory, which RSpec adds to the `$LOAD_PATH`.
+# Require this file using `require "spec_helper"` to ensure that it is only
+# loaded once.
+#
+# See http://rubydoc.info/gems/rspec-core/RSpec/Core/Configuration
+RSpec.configure do |config|
+  config.treat_symbols_as_metadata_keys_with_true_values = true
+  config.run_all_when_everything_filtered = true
+  config.filter_run :focus
+
+  # Run specs in random order to surface order dependencies. If you find an
+  # order dependency and want to debug it, you can fix the order by providing
+  # the seed, which is printed after each run.
+  #     --seed 1234
+  config.order = 'random'
+end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: brick-pi
 version: !ruby/object:Gem::Version
-  version: 0.1.1
+  version: 0.2.0
 platform: ruby
 authors:
 - Brandon Hays
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-05-01 00:00:00.000000000 Z
+date: 2014-05-06 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -39,6 +39,20 @@ dependencies:
     - - '>='
       - !ruby/object:Gem::Version
         version: '0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  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'
 description: BrickPi uses a C library to communicate with Lego Mindstorms motors and
   sensors via GPIO on the Raspberry Pi. This library wraps the C and exposes a nicer,
   object-oriented interface via Ruby.
@@ -50,21 +64,28 @@ extensions:
 extra_rdoc_files: []
 files:
 - .gitignore
+- .rspec
 - Gemfile
 - LICENSE
 - LICENSE.txt
 - README.md
 - Rakefile
 - brick_pi.gemspec
+- examples/motors.rb
+- examples/touch_sensor.rb
+- examples/ultrasonic_sensor.rb
 - ext/brick_pi/BrickPi.h
 - ext/brick_pi/extconf.rb
 - ext/brick_pi/native.c
 - ext/brick_pi/tick.h
 - lib/brick_pi.rb
 - lib/brick_pi/bot.rb
+- lib/brick_pi/configuration.rb
 - lib/brick_pi/motor.rb
 - lib/brick_pi/sensor.rb
 - lib/brick_pi/version.rb
+- spec/lib/configuration_spec.rb
+- spec/spec_helper.rb
 homepage: ''
 licenses:
 - MIT
@@ -90,4 +111,6 @@ rubygems_version: 2.2.2
 signing_key: 
 specification_version: 4
 summary: Ruby library to run the BrickPi drivers for Lego Mindstorms
-test_files: []
+test_files:
+- spec/lib/configuration_spec.rb
+- spec/spec_helper.rb