brick-pi 0.3.0 → 0.4.0

checksums.yaml

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

@@ -43,28 +43,29 @@ Here's a quick & dirty script to spin a motor:
 require 'brick_pi'
 
 # 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 do
-  schedule 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
+class HelloBot < BrickPi::Bot
+  motor :port_A
 
-    # Stop a single motor
-    bot.motor_A.stop
+  # Declare a property to adjust speed at any time
+  property :motor_speed do |value|
+    # This `motor :port_A` to `@motor_A` mapping is yucky, sorry bout that
+    @motor_A.spin value
   end
 end
+
+# Get this party started
+bot = HelloBot.new
+bot.motor_speed = 80
+bot.start
+sleep 2
+bot.motor_speed - -80
+sleep 2
+bot.stop
 ```
 
-Once your bot is started, you can change the speed or direction of the motors at any time with the `Motor#spin` method.
+Once your bot is started, you can change the speed or direction of the motors at any time.
 
-Here's a really yucky script I hacked together to let you drive a 2-tracked vehicle with an iCade 8-Bitty (which is basically a bluetooth keyboard that looks like an NES controller).
+Here's a custom bot class and quick script to let you drive a 2-tracked vehicle with an iCade 8-Bitty (which is basically a bluetooth keyboard that looks like an NES controller).
 
 It requires the Highline gem, so on the BrickPi you'll need to run `gem install highline`.
 
@@ -75,92 +76,88 @@ include HighLine::SystemExtensions
 HighLine::SystemExtensions.raw_no_echo_mode
 
 # Create a bot with two motors
-bot = BrickPi.create do |bot|
-  bot.motor :port_A
-  bot.motor :port_B
-  bot.ultrasonic_sensor :port_3
-end
-
-bot.singleton_class.class_eval do
+class DemoBot < BrickPi::Bot
   attr_accessor :speed
-
-  def move_forward
-    schedule do |op|
-      motor_A.spin speed
-      motor_B.spin speed
-    end
+  motor :port_A
+  motor :port_B
+  ultrasonic_sensor :port_3
+
+  # A property is always settable and gettable, even while things are running.
+  property :forward_speed do |value|
+    @motor_A.spin value
+    @motor_B.spin value
   end
 
-  def move_backward
-    schedule do
-      motor_A.spin 0 - speed
-      motor_B.spin 0 - speed
-    end
+  # Properties are applied in order. Since it comes second, this trumps forward_speed.
+  property :rotation_speed do |value|
+    @motor_A.spin -1 * value
+    @motor_B.spin value
   end
 
   def turn_left
-    schedule do
-      motor_A.spin speed
-      motor_B.spin 0 - speed
-    end
+    self.rotation_speed = -1 * speed
   end
 
   def turn_right
-    schedule do
-      motor_A.spin 0 - speed
-      motor_B.spin speed
-    end
+    self.rotation_speed = speed
+  end
+
+  def move_forward
+    # Since rotation speed trumps forward speed, you need to EXTERMINATE it.
+    self.rotation_speed = nil
+    self.forward_speed = speed
+  end
+
+  def move_backward
+    self.rotation_speed = nil
+    self.forward_speed = -1 * speed
   end
 
   def increase_speed
-    schedule do
-      if speed >=0 && speed <= 80
-        self.speed += 20
-      end
+    if speed >=0 && speed <= 80
+      self.speed += 20
     end
   end
 
   def decrease_speed
-    schedule do
-      if speed > 20 && speed <= 100
-        self.speed -= 20
-      end
+    if speed > 20 && speed <= 100
+      self.speed -= 20
     end
   end
 
   def stop_motors
-    schedule do
-      motor_A.stop
-      motor_B.stop
-    end
+    self.rotation_speed = nil
+    self.forward_speed = 0
   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.move_forward
-    when 'd'
-      bot.turn_left
-    when 'a'
-      bot.turn_right
-    when 'x'
-      bot.move_backward
-    when 'o'
-      bot.increase_speed
-    when 'l'
-      bot.decrease_speed
-    when 'e', 'c', 'z', 'q'
-      bot.stop_motors
-    end
+@bot = DemoBot.new
+@bot.start
+@bot.speed = 60
+puts "bot ready!"
+
+loop do
+  unless @bot.sensor_3.distance == 0
+    print "SENSOR DISTANCE: "
+    puts @bot.sensor_3.distance
+  end
+  char = HighLine::SystemExtensions.get_character
+  case char.chr
+  when 'w'
+    @bot.move_forward
+  when 'd'
+    @bot.turn_left
+  when 'a'
+    @bot.turn_right
+  when 'x'
+    @bot.move_backward
+  when 'o'
+    @bot.increase_speed
+  when 'l'
+    @bot.decrease_speed
+  when 'e', 'c', 'z', 'q'
+    @bot.stop_motors
   end
 end
 ```
@@ -170,12 +167,12 @@ end
 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
+class SensorBot = BrickPi::Bot
+  touch_sensor :port_1
 end
+
+bot = DemoBot.new
+bot.sensor_1.read
 ```
 
 See the scripts in the `examples` directory for more details.
@@ -194,4 +191,3 @@ See the scripts in the `examples` directory for more details.
 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.rb

@@ -1,6 +1,5 @@
 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

@@ -3,9 +3,6 @@ include BrickPi
 
 module BrickPi
   class Bot
-
-    include BrickPi::Configuration
-
     attr_accessor :motor_A, :motor_B, :motor_C, :motor_D
     attr_accessor :sensor_1, :sensor_2, :sensor_3, :sensor_4
 
@@ -13,7 +10,9 @@ module BrickPi
       Native.BrickPiSetup()
       Native::Address[0] = 1
       Native::Address[1] = 2
-      @queue = Queue.new
+      self.class.initializers.each do |initializer|
+        instance_eval &initializer
+      end
     end
 
     def start
@@ -23,35 +22,100 @@ module BrickPi
       Native.BrickPiSetTimeout()
       Thread.new do
         until @stop do
+          tick()
           Native.BrickPiUpdateValues()
           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
+
+    def tick
+      self.class.devices.each { |d| d.zero }
+      self.class.properties.each { |p| p.apply self }
+    rescue Exception => e
+      $stderr.puts e.message
+      $stderr.puts e.backtrace.join "\n"
+    end
+
+    def stop
+      @stop = true
+    end
+
+    class << self
+      attr_reader :properties, :devices, :initializers
+
+      def property(name, &body)
+        @properties ||= []
+        @properties << Property.new(name, body)
+        send(:attr_accessor, name)
+      end
+
+      def device(device)
+        device.tap do
+          @devices ||= []
+          @devices << device
+        end
+      end
+
+      def initializer(&body)
+        @initializers ||= []
+        @initializers << body
+      end
+
+      def motor(port)
+        initializer do
+          case port
+          when :port_A
+            @motor_A = self.class.device BrickPi::Motor.new(Native::PORT_A)
+          when :port_B
+            @motor_B = self.class.device BrickPi::Motor.new(Native::PORT_B)
+          when :port_C
+            @motor_C = self.class.device BrickPi::Motor.new(Native::PORT_C)
+          when :port_D
+            @motor_D = self.class.device BrickPi::Motor.new(Native::PORT_D)
           end
         end
       end
-      Thread.new do
-        yield
-      end.join
-      stop
-    end
 
-    def stop
-      schedule do
-        @stop = true
+      def sensor(port, sensor_type)
+        initializer do
+          case port
+          when :port_1
+            @sensor_1 = self.class.device BrickPi::Sensor.new(:port_1, sensor_type)
+          when :port_2
+            @sensor_2 = self.class.device BrickPi::Sensor.new(:port_2, sensor_type)
+          when :port_3
+            @sensor_3 = self.class.device BrickPi::Sensor.new(:port_3, sensor_type)
+          when :port_4
+            @sensor_4 = self.class.device BrickPi::Sensor.new(:port_4, sensor_type)
+          end
+        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
 
-    def schedule(&block)
-      @queue.push block
+    class Property
+      def initialize(name, body)
+        @name, @body = name, body
+      end
+
+      def apply(bot)
+        value = bot.send(@name)
+        if !value.nil?
+          bot.instance_exec(value, &@body)
+        end
+      end
     end
   end
 end

data/lib/brick_pi/motor.rb

@@ -8,7 +8,6 @@ module BrickPi
     def spin(speed)
       speed = [-100, [100, speed].min].max
       motor_speed = (speed * 2.55).round
-      puts motor_speed
       Native::MotorSpeed[@port] = motor_speed
     end
 
@@ -21,5 +20,7 @@ module BrickPi
     def stop
       spin 0
     end
+
+    alias_method :zero, :stop
   end
 end

data/lib/brick_pi/sensor.rb

@@ -39,5 +39,8 @@ module BrickPi
       read if @sensor_type == :ultrasonic
     end
 
+    def zero
+    end
+
   end
 end

data/lib/brick_pi/version.rb

@@ -1,3 +1,3 @@
 module BrickPi
-  VERSION = "0.3.0"
+  VERSION = "0.4.0"
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: brick-pi
 version: !ruby/object:Gem::Version
-  version: 0.3.0
+  version: 0.4.0
 platform: ruby
 authors:
 - Brandon Hays
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-09-16 00:00:00.000000000 Z
+date: 2014-09-19 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -80,7 +80,6 @@ files:
 - 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

data/lib/brick_pi/configuration.rb

@@ -1,55 +0,0 @@
-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