brick-pi 0.2.0 → 0.3.0

checksums.yaml

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

@@ -2,12 +2,6 @@
 
 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:
@@ -18,7 +12,10 @@ You need to have a few things to use this:
 
 ## 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.
+**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.
+
+You'll first need Ruby installed on your Raspberry Pi. If you need help, this Stack Overflow answer may be of service:
+http://raspberrypi.stackexchange.com/questions/1010/can-i-install-the-ruby-version-manager
 
 Add this line to your application's Gemfile:
 
@@ -51,17 +48,17 @@ bot = BrickPi.create do |bot|
 end
 
 # Get this party started
-bot.run do
-
-  # Set the speed for a motor, on a scale of 0 - 100
-  bot.motor_A.spin 50
-
-  # Run the motor for 1 second
-  sleep 1
+bot.start do
+  schedule do
+    # Set the speed for a motor, on a scale of 0 - 100
+    bot.motor_A.spin 50
 
-  # Stop a single motor
-  bot.motor_A.stop
+    # Run the motor for 1 second
+    sleep 1
 
+    # Stop a single motor
+    bot.motor_A.stop
+  end
 end
 ```
 
@@ -72,6 +69,7 @@ Here's a really yucky script I hacked together to let you drive a 2-tracked vehi
 It requires the Highline gem, so on the BrickPi you'll need to run `gem install highline`.
 
 ```ruby
+require "brick_pi"
 require "highline/system_extensions"
 include HighLine::SystemExtensions
 HighLine::SystemExtensions.raw_no_echo_mode
@@ -80,39 +78,89 @@ HighLine::SystemExtensions.raw_no_echo_mode
 bot = BrickPi.create do |bot|
   bot.motor :port_A
   bot.motor :port_B
+  bot.ultrasonic_sensor :port_3
 end
 
-bot.run do
+bot.singleton_class.class_eval do
+  attr_accessor :speed
+
+  def move_forward
+    schedule do |op|
+      motor_A.spin speed
+      motor_B.spin speed
+    end
+  end
 
-  speed = 20
+  def move_backward
+    schedule do
+      motor_A.spin 0 - speed
+      motor_B.spin 0 - speed
+    end
+  end
+
+  def turn_left
+    schedule do
+      motor_A.spin speed
+      motor_B.spin 0 - speed
+    end
+  end
+
+  def turn_right
+    schedule do
+      motor_A.spin 0 - speed
+      motor_B.spin speed
+    end
+  end
+
+  def increase_speed
+    schedule do
+      if speed >=0 && speed <= 80
+        self.speed += 20
+      end
+    end
+  end
+
+  def decrease_speed
+    schedule do
+      if speed > 20 && speed <= 100
+        self.speed -= 20
+      end
+    end
+  end
+
+  def stop_motors
+    schedule do
+      motor_A.stop
+      motor_B.stop
+    end
+  end
+
+end
+
+bot.start do
+  bot.speed = 60
   loop do
+    unless bot.sensor_3.distance == 0
+      puts "*****SENSOR DISTANCE:*****"
+      puts bot.sensor_3.distance
+    end
     char = HighLine::SystemExtensions.get_character
     case char.chr
     when 'w'
-      bot.motor_A.spin speed
-      bot.motor_B.spin speed
+      bot.move_forward
     when 'd'
-      bot.motor_A.spin speed
-      bot.motor_B.spin 0 - speed
+      bot.turn_left
     when 'a'
-      bot.motor_A.spin 0 - speed
-      bot.motor_B.spin speed
+      bot.turn_right
     when 'x'
-      bot.motor_A.spin 0 - speed
-      bot.motor_B.spin 0 - speed
+      bot.move_backward
     when 'o'
-      if speed >=0 && speed <= 80
-        speed += 20
-      end
+      bot.increase_speed
     when 'l'
-      if speed > 20 && speed <= 100
-        speed -= 20
-      end
+      bot.decrease_speed
     when 'e', 'c', 'z', 'q'
-      bot.motor_A.stop
-      bot.motor_B.stop
+      bot.stop_motors
     end
-    sleep(5 / 1000)
   end
 end
 ```
@@ -140,3 +188,10 @@ See the scripts in the `examples` directory for more details.
 3. Commit your changes (`git commit -am 'Add some feature'`)
 4. Push to the branch (`git push origin my-new-feature`)
 5. Create a new Pull Request
+
+## Issues
+
+I use HuBoard to manage GitHub issues. It's pretty awesome, check it out here:
+
+https://huboard.com/tehviking/brick_pi_ruby/
+

data/lib/brick_pi/bot.rb

@@ -13,6 +13,7 @@ module BrickPi
       Native.BrickPiSetup()
       Native::Address[0] = 1
       Native::Address[1] = 2
+      @queue = Queue.new
     end
 
     def start
@@ -20,24 +21,37 @@ module BrickPi
       Native.ClearTick()
       Native.Timeout = 50
       Native.BrickPiSetTimeout()
-
       Thread.new do
         until @stop do
           Native.BrickPiUpdateValues()
-          sleep(50/1000)
+          sleep 50/1000
+        end
+      end
+      Thread.new do
+        until @stop do
+          code = @queue.pop
+          begin
+            code.call
+          rescue => e
+            $stderr.puts e.message
+            $stderr.puts e.backtrace.join("\n")
+          end
         end
       end
+      Thread.new do
+        yield
+      end.join
+      stop
     end
 
     def stop
-      @stop = true
+      schedule do
+        @stop = true
+      end
     end
 
-    def run
-      start
-      yield
-      stop
+    def schedule(&block)
+      @queue.push block
     end
-
   end
 end

data/lib/brick_pi/version.rb

@@ -1,3 +1,3 @@
 module BrickPi
-  VERSION = "0.2.0"
+  VERSION = "0.3.0"
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: brick-pi
 version: !ruby/object:Gem::Version
-  version: 0.2.0
+  version: 0.3.0
 platform: ruby
 authors:
 - Brandon Hays
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-05-06 00:00:00.000000000 Z
+date: 2014-09-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler