capoblo 0.1.0

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data/.gitignore

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+/.bundle/
+/.yardoc
+/Gemfile.lock
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
+/spec/reports/
+/tmp/
+/.idea

data/CODE_OF_CONDUCT.md

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+# Contributor Code of Conduct
+
+As contributors and maintainers of this project, we pledge to respect all people who contribute through reporting issues, posting feature requests, updating documentation, submitting pull requests or patches, and other activities.
+
+We are committed to making participation in this project a harassment-free experience for everyone, regardless of level of experience, gender, gender identity and expression, sexual orientation, disability, personal appearance, body size, race, ethnicity, age, or religion.
+
+Examples of unacceptable behavior by participants include the use of sexual language or imagery, derogatory comments or personal attacks, trolling, public or private harassment, insults, or other unprofessional conduct.
+
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct. Project maintainers who do not follow the Code of Conduct may be removed from the project team.
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by opening an issue or contacting one or more of the project maintainers.
+
+This Code of Conduct is adapted from the [Contributor Covenant](http://contributor-covenant.org), version 1.0.0, available at [http://contributor-covenant.org/version/1/0/0/](http://contributor-covenant.org/version/1/0/0/)

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in capoblo.gemspec
+gemspec

data/LICENSE.txt

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+The MIT License (MIT)
+
+Copyright (c) 2016 Oguzhan ilhan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

data/README.md

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+# Capoblo
+
+Welcome to your new gem! In this directory, you'll find the files you need to be able to package up your Ruby library into a gem. Put your Ruby code in the file `lib/capoblo`. To experiment with that code, run `bin/console` for an interactive prompt.
+
+TODO: Delete this and the text above, and describe your gem
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+```ruby
+gem 'capoblo'
+```
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install capoblo
+
+## Usage
+
+TODO: Write usage instructions here
+
+## Development
+
+After checking out the repo, run `bin/setup` to install dependencies. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
+
+To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and tags, and push the `.gem` file to [rubygems.org](https://rubygems.org).
+
+## Contributing
+
+Bug reports and pull requests are welcome on GitHub at https://github.com/[USERNAME]/capoblo. This project is intended to be a safe, welcoming space for collaboration, and contributors are expected to adhere to the [Contributor Covenant](contributor-covenant.org) code of conduct.
+
+
+## License
+
+The gem is available as open source under the terms of the [MIT License](http://opensource.org/licenses/MIT).
+

data/Rakefile

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+require "bundler/gem_tasks"

data/bin/capoblo

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+#!/usr/bin/env ruby
+require 'rubygems'
+$:.unshift File.expand_path '../lib', File.dirname(__FILE__)
+
+require "capoblo"
+
+
+## Connected Arduinos Information
+ARDUINO_ONE_PORT = "/dev/ttyACM0"
+puts ARDUINO_ONE_PORT
+
+
+## Setting Up and connect Arduinos
+ARDUINO_ONE = InterfaceConnection.get_interface
+
+#Rack::Server.start :app => WebInterface
+sleep 1

data/capoblo.gemspec

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+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'capoblo/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = "capoblo"
+  spec.version       = Capoblo::VERSION
+  spec.authors       = ["Oguzhan ilhan"]
+  spec.email         = ["ilhanoguzhan@gmail.com"]
+
+  spec.summary       = %q{Two motor robot library.}
+  spec.description   = %q{Two motor robot library for raspberry pi or others.}
+  spec.homepage      = "https://github.com/ilhanoguzhan."
+  spec.license       = "MIT"
+
+  spec.files         = `git ls-files`.split($/).reject{|i| i=="Gemfile.lock" }
+  spec.executables   = spec.files.grep(%r{^bin/}).map{ |f| File.basename(f) }
+  spec.test_files    = spec.files.grep(%r{^(test|spec|features)/})
+  spec.require_paths = ["lib"]
+
+  spec.add_development_dependency "bundler", "~> 1.10"
+  spec.add_development_dependency "rake", "~> 10.0"
+
+  spec.add_dependency "arduino_firmata", "~> 0.3"
+end

data/lib/capoblo/arduino_moves.rb

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+class ArduinoMoves
+
+  attr_accessor :arduino
+
+  MIN_POWER = 60
+
+  ## For Two Motors
+  LEFT_DIGITAL_BACKWARD = 5    # Input3 connected to pin 5
+  LEFT_DIGITAL_FORWARD = 4    # Input4 connected to pin 4
+  LEFT_ANALOG_SIGNAL = 3    # ENB connected to pin 3 of Arduino
+  RIGHT_DIGITAL_BACKWARD = 8    # Input3 connected to pin 5
+  RIGHT_DIGITAL_FORWARD = 7    # Input4 connected to pin 4
+  RIGHT_ANALOG_SIGNAL = 6    # ENB connected to pin 3 of Arduino
+
+
+  def initialize
+    super
+    self.arduino = ARDUINO_ONE
+
+    ## For Two Motors
+    self.arduino.pin_mode LEFT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode LEFT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode LEFT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode RIGHT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode RIGHT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode RIGHT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
+
+  end
+
+  def run_forward(power = MIN_POWER, times = 0)
+    set_all_forward
+    if times == 0
+      soft_run true, power
+    else
+      soft_run true, power
+      sleep times
+      stop_all
+    end
+  end
+
+  def run_backward(power = MIN_POWER, times = 0)
+    set_all_backward
+    if times == 0
+      soft_run true, power
+    else
+      soft_run true, power
+      sleep times
+      stop_all
+    end
+  end
+
+  def rotate_clockwise
+    set_left_forward
+    set_right_backward
+    soft_run
+  end
+
+  def rotate_anticlockwise
+    set_left_backward
+    set_right_forward
+    soft_run
+  end
+
+  def turn_right(times = 3)
+    set_left_forward
+    set_right_forward
+    run(LEFT_ANALOG_SIGNAL, 125)
+    run(RIGHT_ANALOG_SIGNAL, 65)
+    sleep times
+  end
+
+
+  def turn_left(times = 3)
+    set_left_forward
+    set_right_forward
+    run(LEFT_ANALOG_SIGNAL, 65)
+    run(RIGHT_ANALOG_SIGNAL, 125)
+    sleep times
+  end
+
+  def turn_back_right(times = 3)
+    set_left_backward
+    set_right_backward
+    run(LEFT_ANALOG_SIGNAL, 125)
+    run(RIGHT_ANALOG_SIGNAL, 65)
+    sleep times
+  end
+
+  def turn_back_left(times = 3)
+    set_left_backward
+    set_right_backward
+    run(LEFT_ANALOG_SIGNAL, 65)
+    run(RIGHT_ANALOG_SIGNAL, 125)
+    sleep times
+  end
+
+
+  def stop_all
+    run(LEFT_ANALOG_SIGNAL, 0)
+    run(RIGHT_ANALOG_SIGNAL, 0)
+    arduino.digital_write LEFT_DIGITAL_BACKWARD, false
+    arduino.digital_write LEFT_DIGITAL_FORWARD, true
+    arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
+    arduino.digital_write RIGHT_DIGITAL_FORWARD, true
+  end
+
+  private
+  def soft_run(is_continues = false, max_power = 145)
+    if is_continues
+      MIN_POWER.upto(max_power).each do |val|
+        run(LEFT_ANALOG_SIGNAL, val)
+        run(RIGHT_ANALOG_SIGNAL, val)
+        sleep 0.01
+      end
+    else
+      MIN_POWER.upto(max_power).each do |val|
+        run(LEFT_ANALOG_SIGNAL, val)
+        run(RIGHT_ANALOG_SIGNAL, val)
+        sleep 0.01
+      end
+      max_power.downto(MIN_POWER).each do |val|
+        run(LEFT_ANALOG_SIGNAL, val)
+        run(RIGHT_ANALOG_SIGNAL, val)
+        sleep 0.01
+      end
+      stop_all
+    end
+  end
+
+  def run(depending_pin, power = MIN_POWER)
+    arduino.analog_write depending_pin, power
+  end
+
+  def set_left_forward
+    arduino.digital_write LEFT_DIGITAL_BACKWARD, false
+    arduino.digital_write LEFT_DIGITAL_FORWARD, true
+  end
+
+  def set_right_forward
+    arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
+    arduino.digital_write RIGHT_DIGITAL_FORWARD, true
+  end
+
+  def set_all_forward
+    set_left_forward
+    set_right_forward
+  end
+
+  def set_left_backward
+    arduino.digital_write LEFT_DIGITAL_BACKWARD, true
+    arduino.digital_write LEFT_DIGITAL_FORWARD, false
+  end
+
+  def set_right_backward
+    arduino.digital_write RIGHT_DIGITAL_BACKWARD, true
+    arduino.digital_write RIGHT_DIGITAL_FORWARD, false
+  end
+
+  def set_all_backward
+    set_left_backward
+    set_right_backward
+  end
+
+end

data/lib/capoblo/arduino_sensors.rb

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+class ArduinoSensors
+  attr_accessor :arduino, :front_distance, :rear_distance
+
+  ULTRASONIC_TRIGGER = 11
+  ULTRASONIC_ECHO = 12
+  AVOIDANCE_SENSOR_PIN = 2
+
+
+  def initialize
+    super
+    self.arduino = ARDUINO_ONE
+
+    self.arduino.pin_mode ULTRASONIC_TRIGGER, ArduinoFirmata::OUTPUT
+    self.arduino.pin_mode ULTRASONIC_ECHO, ArduinoFirmata::INPUT
+    self.arduino.pin_mode AVOIDANCE_SENSOR_PIN, ArduinoFirmata::INPUT
+  end
+
+
+  def front_distance
+    @front_distance = 0
+    ## For senfor is reading
+
+    arduino.digital_write ULTRASONIC_TRIGGER, false
+    sleep 0.005
+    arduino.digital_write ULTRASONIC_TRIGGER, true
+    sleep 0.01
+    arduino.digital_write ULTRASONIC_TRIGGER, false
+
+
+    puts arduino.sysex 0x74, [ULTRASONIC_ECHO, 1]
+  end
+
+  def rear_distance
+    @rear_distance = arduino.digital_read 2
+    @rear_distance
+  end
+
+
+end

data/lib/capoblo/interface_connection.rb

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+class InterfaceConnection
+#simplest ruby program to read from arduino serial,
+#using the SerialPort gem
+#(http://rubygems.org/gems/serialport)
+  require "rubygems"
+  require "arduino_firmata"
+  require 'rubyserial'
+
+  #require "date"
+
+  attr_accessor :port_str, :baud_rate, :data_bits, :stop_bits, :parity
+  #params for serial port
+
+  def initialize
+    super
+    self.port_str = "/dev/ttyACM0" #may be different for you
+    self.baud_rate = 9600
+    self.data_bits = 8
+    self.stop_bits = 1
+    self.parity = SerialPort::NONE
+  end
+
+  def self.get_interface
+    conn = InterfaceConnection.new
+    arduino = ArduinoFirmata.connect conn.port_str
+    arduino
+  end
+
+end

data/lib/capoblo/version.rb

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+module Capoblo
+  VERSION = "0.1.0"
+end

data/lib/capoblo.rb

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+require "capoblo/version"
+require "capoblo/interface_connection"
+require "capoblo/arduino_moves"
+require "capoblo/arduino_sensors"
+
+
+module Capoblo
+  # Your code goes here...
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: capoblo
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Oguzhan ilhan
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2016-02-19 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.10'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.10'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: arduino_firmata
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.3'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.3'
+description: Two motor robot library for raspberry pi or others.
+email:
+- ilhanoguzhan@gmail.com
+executables:
+- capoblo
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- CODE_OF_CONDUCT.md
+- Gemfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- bin/capoblo
+- capoblo.gemspec
+- lib/capoblo.rb
+- lib/capoblo/arduino_moves.rb
+- lib/capoblo/arduino_sensors.rb
+- lib/capoblo/interface_connection.rb
+- lib/capoblo/version.rb
+homepage: https://github.com/ilhanoguzhan.
+licenses:
+- MIT
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.4.8
+signing_key: 
+specification_version: 4
+summary: Two motor robot library.
+test_files: []