capoblo 0.1.0 → 0.1.1
Sign up to get free protection for your applications and to get access to all the features.
- checksums.yaml +4 -4
- data/.gitignore +2 -1
- data/bin/capoblo +1 -0
- data/lib/capoblo/arduino_moves.rb +136 -134
- data/lib/capoblo/arduino_sensors.rb +28 -26
- data/lib/capoblo/interface_connection.rb +25 -23
- data/lib/capoblo/version.rb +1 -1
- metadata +1 -1
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
---
|
2
2
|
SHA1:
|
3
|
-
metadata.gz:
|
4
|
-
data.tar.gz:
|
3
|
+
metadata.gz: bf335625e6367c5ba888ff2911dd5b1e95ba1ddf
|
4
|
+
data.tar.gz: f86a3ca78e4d9ad203d50ac5fd864cf254108441
|
5
5
|
SHA512:
|
6
|
-
metadata.gz:
|
7
|
-
data.tar.gz:
|
6
|
+
metadata.gz: fb5e9f11bf2df79a26777787ff50e56ff29b690518ad3bad5510f70277fee7ad9009b8d8728b61af083b7722db7cdc8fe077c1107cef5c382514b390603b949a
|
7
|
+
data.tar.gz: 1940f520c5c3cc4382619feb4d3d070e10f263af5652ce698616c47de47bd48a24b4f647e6dcebb51a6c6fbde2191914fe92755f8cae949a363d67afe3f1eab7
|
data/.gitignore
CHANGED
data/bin/capoblo
CHANGED
@@ -1,164 +1,166 @@
|
|
1
|
-
|
1
|
+
module Capoblo
|
2
|
+
class ArduinoMoves
|
2
3
|
|
3
|
-
|
4
|
+
attr_accessor :arduino
|
4
5
|
|
5
|
-
|
6
|
-
|
7
|
-
## For Two Motors
|
8
|
-
LEFT_DIGITAL_BACKWARD = 5 # Input3 connected to pin 5
|
9
|
-
LEFT_DIGITAL_FORWARD = 4 # Input4 connected to pin 4
|
10
|
-
LEFT_ANALOG_SIGNAL = 3 # ENB connected to pin 3 of Arduino
|
11
|
-
RIGHT_DIGITAL_BACKWARD = 8 # Input3 connected to pin 5
|
12
|
-
RIGHT_DIGITAL_FORWARD = 7 # Input4 connected to pin 4
|
13
|
-
RIGHT_ANALOG_SIGNAL = 6 # ENB connected to pin 3 of Arduino
|
14
|
-
|
15
|
-
|
16
|
-
def initialize
|
17
|
-
super
|
18
|
-
self.arduino = ARDUINO_ONE
|
6
|
+
MIN_POWER = 60
|
19
7
|
|
20
8
|
## For Two Motors
|
21
|
-
|
22
|
-
|
23
|
-
|
24
|
-
|
25
|
-
|
26
|
-
|
9
|
+
LEFT_DIGITAL_BACKWARD = 5 # Input3 connected to pin 5
|
10
|
+
LEFT_DIGITAL_FORWARD = 4 # Input4 connected to pin 4
|
11
|
+
LEFT_ANALOG_SIGNAL = 3 # ENB connected to pin 3 of Arduino
|
12
|
+
RIGHT_DIGITAL_BACKWARD = 8 # Input3 connected to pin 5
|
13
|
+
RIGHT_DIGITAL_FORWARD = 7 # Input4 connected to pin 4
|
14
|
+
RIGHT_ANALOG_SIGNAL = 6 # ENB connected to pin 3 of Arduino
|
15
|
+
|
16
|
+
|
17
|
+
def initialize
|
18
|
+
super
|
19
|
+
self.arduino = ARDUINO_ONE
|
20
|
+
|
21
|
+
## For Two Motors
|
22
|
+
self.arduino.pin_mode LEFT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
|
23
|
+
self.arduino.pin_mode LEFT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
|
24
|
+
self.arduino.pin_mode LEFT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
|
25
|
+
self.arduino.pin_mode RIGHT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
|
26
|
+
self.arduino.pin_mode RIGHT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
|
27
|
+
self.arduino.pin_mode RIGHT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
|
27
28
|
|
28
|
-
|
29
|
+
end
|
29
30
|
|
30
|
-
|
31
|
-
|
32
|
-
|
33
|
-
|
34
|
-
|
35
|
-
|
36
|
-
|
37
|
-
|
31
|
+
def run_forward(power = MIN_POWER, times = 0)
|
32
|
+
set_all_forward
|
33
|
+
if times == 0
|
34
|
+
soft_run true, power
|
35
|
+
else
|
36
|
+
soft_run true, power
|
37
|
+
sleep times
|
38
|
+
stop_all
|
39
|
+
end
|
38
40
|
end
|
39
|
-
end
|
40
41
|
|
41
|
-
|
42
|
-
|
43
|
-
|
44
|
-
|
45
|
-
|
46
|
-
|
47
|
-
|
48
|
-
|
42
|
+
def run_backward(power = MIN_POWER, times = 0)
|
43
|
+
set_all_backward
|
44
|
+
if times == 0
|
45
|
+
soft_run true, power
|
46
|
+
else
|
47
|
+
soft_run true, power
|
48
|
+
sleep times
|
49
|
+
stop_all
|
50
|
+
end
|
49
51
|
end
|
50
|
-
end
|
51
52
|
|
52
|
-
|
53
|
-
|
54
|
-
|
55
|
-
|
56
|
-
|
53
|
+
def rotate_clockwise
|
54
|
+
set_left_forward
|
55
|
+
set_right_backward
|
56
|
+
soft_run
|
57
|
+
end
|
57
58
|
|
58
|
-
|
59
|
-
|
60
|
-
|
61
|
-
|
62
|
-
|
59
|
+
def rotate_anticlockwise
|
60
|
+
set_left_backward
|
61
|
+
set_right_forward
|
62
|
+
soft_run
|
63
|
+
end
|
63
64
|
|
64
|
-
|
65
|
-
|
66
|
-
|
67
|
-
|
68
|
-
|
69
|
-
|
70
|
-
|
65
|
+
def turn_right(times = 3)
|
66
|
+
set_left_forward
|
67
|
+
set_right_forward
|
68
|
+
run(LEFT_ANALOG_SIGNAL, 125)
|
69
|
+
run(RIGHT_ANALOG_SIGNAL, 65)
|
70
|
+
sleep times
|
71
|
+
end
|
71
72
|
|
72
73
|
|
73
|
-
|
74
|
-
|
75
|
-
|
76
|
-
|
77
|
-
|
78
|
-
|
79
|
-
|
74
|
+
def turn_left(times = 3)
|
75
|
+
set_left_forward
|
76
|
+
set_right_forward
|
77
|
+
run(LEFT_ANALOG_SIGNAL, 65)
|
78
|
+
run(RIGHT_ANALOG_SIGNAL, 125)
|
79
|
+
sleep times
|
80
|
+
end
|
80
81
|
|
81
|
-
|
82
|
-
|
83
|
-
|
84
|
-
|
85
|
-
|
86
|
-
|
87
|
-
|
82
|
+
def turn_back_right(times = 3)
|
83
|
+
set_left_backward
|
84
|
+
set_right_backward
|
85
|
+
run(LEFT_ANALOG_SIGNAL, 125)
|
86
|
+
run(RIGHT_ANALOG_SIGNAL, 65)
|
87
|
+
sleep times
|
88
|
+
end
|
88
89
|
|
89
|
-
|
90
|
-
|
91
|
-
|
92
|
-
|
93
|
-
|
94
|
-
|
95
|
-
|
90
|
+
def turn_back_left(times = 3)
|
91
|
+
set_left_backward
|
92
|
+
set_right_backward
|
93
|
+
run(LEFT_ANALOG_SIGNAL, 65)
|
94
|
+
run(RIGHT_ANALOG_SIGNAL, 125)
|
95
|
+
sleep times
|
96
|
+
end
|
96
97
|
|
97
98
|
|
98
|
-
|
99
|
-
|
100
|
-
|
101
|
-
|
102
|
-
|
103
|
-
|
104
|
-
|
105
|
-
|
99
|
+
def stop_all
|
100
|
+
run(LEFT_ANALOG_SIGNAL, 0)
|
101
|
+
run(RIGHT_ANALOG_SIGNAL, 0)
|
102
|
+
arduino.digital_write LEFT_DIGITAL_BACKWARD, false
|
103
|
+
arduino.digital_write LEFT_DIGITAL_FORWARD, true
|
104
|
+
arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
|
105
|
+
arduino.digital_write RIGHT_DIGITAL_FORWARD, true
|
106
|
+
end
|
106
107
|
|
107
|
-
|
108
|
-
|
109
|
-
|
110
|
-
|
111
|
-
|
112
|
-
|
113
|
-
|
114
|
-
|
115
|
-
|
116
|
-
|
117
|
-
|
118
|
-
|
119
|
-
|
108
|
+
private
|
109
|
+
def soft_run(is_continues = false, max_power = 145)
|
110
|
+
if is_continues
|
111
|
+
MIN_POWER.upto(max_power).each do |val|
|
112
|
+
run(LEFT_ANALOG_SIGNAL, val)
|
113
|
+
run(RIGHT_ANALOG_SIGNAL, val)
|
114
|
+
sleep 0.01
|
115
|
+
end
|
116
|
+
else
|
117
|
+
MIN_POWER.upto(max_power).each do |val|
|
118
|
+
run(LEFT_ANALOG_SIGNAL, val)
|
119
|
+
run(RIGHT_ANALOG_SIGNAL, val)
|
120
|
+
sleep 0.01
|
121
|
+
end
|
122
|
+
max_power.downto(MIN_POWER).each do |val|
|
123
|
+
run(LEFT_ANALOG_SIGNAL, val)
|
124
|
+
run(RIGHT_ANALOG_SIGNAL, val)
|
125
|
+
sleep 0.01
|
126
|
+
end
|
127
|
+
stop_all
|
120
128
|
end
|
121
|
-
max_power.downto(MIN_POWER).each do |val|
|
122
|
-
run(LEFT_ANALOG_SIGNAL, val)
|
123
|
-
run(RIGHT_ANALOG_SIGNAL, val)
|
124
|
-
sleep 0.01
|
125
|
-
end
|
126
|
-
stop_all
|
127
129
|
end
|
128
|
-
end
|
129
130
|
|
130
|
-
|
131
|
-
|
132
|
-
|
131
|
+
def run(depending_pin, power = MIN_POWER)
|
132
|
+
arduino.analog_write depending_pin, power
|
133
|
+
end
|
133
134
|
|
134
|
-
|
135
|
-
|
136
|
-
|
137
|
-
|
135
|
+
def set_left_forward
|
136
|
+
arduino.digital_write LEFT_DIGITAL_BACKWARD, false
|
137
|
+
arduino.digital_write LEFT_DIGITAL_FORWARD, true
|
138
|
+
end
|
138
139
|
|
139
|
-
|
140
|
-
|
141
|
-
|
142
|
-
|
140
|
+
def set_right_forward
|
141
|
+
arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
|
142
|
+
arduino.digital_write RIGHT_DIGITAL_FORWARD, true
|
143
|
+
end
|
143
144
|
|
144
|
-
|
145
|
-
|
146
|
-
|
147
|
-
|
145
|
+
def set_all_forward
|
146
|
+
set_left_forward
|
147
|
+
set_right_forward
|
148
|
+
end
|
148
149
|
|
149
|
-
|
150
|
-
|
151
|
-
|
152
|
-
|
150
|
+
def set_left_backward
|
151
|
+
arduino.digital_write LEFT_DIGITAL_BACKWARD, true
|
152
|
+
arduino.digital_write LEFT_DIGITAL_FORWARD, false
|
153
|
+
end
|
153
154
|
|
154
|
-
|
155
|
-
|
156
|
-
|
157
|
-
|
155
|
+
def set_right_backward
|
156
|
+
arduino.digital_write RIGHT_DIGITAL_BACKWARD, true
|
157
|
+
arduino.digital_write RIGHT_DIGITAL_FORWARD, false
|
158
|
+
end
|
158
159
|
|
159
|
-
|
160
|
-
|
161
|
-
|
162
|
-
|
160
|
+
def set_all_backward
|
161
|
+
set_left_backward
|
162
|
+
set_right_backward
|
163
|
+
end
|
163
164
|
|
165
|
+
end
|
164
166
|
end
|
@@ -1,39 +1,41 @@
|
|
1
|
-
|
2
|
-
|
1
|
+
module Capoblo
|
2
|
+
class ArduinoSensors
|
3
|
+
attr_accessor :arduino, :front_distance, :rear_distance
|
3
4
|
|
4
|
-
|
5
|
-
|
6
|
-
|
5
|
+
ULTRASONIC_TRIGGER = 11
|
6
|
+
ULTRASONIC_ECHO = 12
|
7
|
+
AVOIDANCE_SENSOR_PIN = 2
|
7
8
|
|
8
9
|
|
9
|
-
|
10
|
-
|
11
|
-
|
10
|
+
def initialize
|
11
|
+
super
|
12
|
+
self.arduino = ARDUINO_ONE
|
12
13
|
|
13
|
-
|
14
|
-
|
15
|
-
|
16
|
-
|
14
|
+
self.arduino.pin_mode ULTRASONIC_TRIGGER, ArduinoFirmata::OUTPUT
|
15
|
+
self.arduino.pin_mode ULTRASONIC_ECHO, ArduinoFirmata::INPUT
|
16
|
+
self.arduino.pin_mode AVOIDANCE_SENSOR_PIN, ArduinoFirmata::INPUT
|
17
|
+
end
|
17
18
|
|
18
19
|
|
19
|
-
|
20
|
-
|
21
|
-
|
20
|
+
def front_distance
|
21
|
+
@front_distance = 0
|
22
|
+
## For senfor is reading
|
22
23
|
|
23
|
-
|
24
|
-
|
25
|
-
|
26
|
-
|
27
|
-
|
24
|
+
arduino.digital_write ULTRASONIC_TRIGGER, false
|
25
|
+
sleep 0.005
|
26
|
+
arduino.digital_write ULTRASONIC_TRIGGER, true
|
27
|
+
sleep 0.01
|
28
|
+
arduino.digital_write ULTRASONIC_TRIGGER, false
|
28
29
|
|
29
30
|
|
30
|
-
|
31
|
-
|
31
|
+
puts arduino.sysex 0x74, [ULTRASONIC_ECHO, 1]
|
32
|
+
end
|
32
33
|
|
33
|
-
|
34
|
-
|
35
|
-
|
36
|
-
|
34
|
+
def rear_distance
|
35
|
+
@rear_distance = arduino.digital_read 2
|
36
|
+
@rear_distance
|
37
|
+
end
|
37
38
|
|
38
39
|
|
40
|
+
end
|
39
41
|
end
|
@@ -1,29 +1,31 @@
|
|
1
|
-
|
2
|
-
|
3
|
-
#
|
4
|
-
#
|
5
|
-
|
6
|
-
|
7
|
-
|
1
|
+
module Capoblo
|
2
|
+
class InterfaceConnection
|
3
|
+
#simplest ruby program to read from arduino serial,
|
4
|
+
#using the SerialPort gem
|
5
|
+
#(http://rubygems.org/gems/serialport)
|
6
|
+
require "rubygems"
|
7
|
+
require "arduino_firmata"
|
8
|
+
require 'rubyserial'
|
8
9
|
|
9
|
-
|
10
|
+
#require "date"
|
10
11
|
|
11
|
-
|
12
|
-
|
12
|
+
attr_accessor :port_str, :baud_rate, :data_bits, :stop_bits, :parity
|
13
|
+
#params for serial port
|
13
14
|
|
14
|
-
|
15
|
-
|
16
|
-
|
17
|
-
|
18
|
-
|
19
|
-
|
20
|
-
|
21
|
-
|
15
|
+
def initialize
|
16
|
+
super
|
17
|
+
self.port_str = "/dev/ttyACM0" #may be different for you
|
18
|
+
self.baud_rate = 9600
|
19
|
+
self.data_bits = 8
|
20
|
+
self.stop_bits = 1
|
21
|
+
self.parity = SerialPort::NONE
|
22
|
+
end
|
22
23
|
|
23
|
-
|
24
|
-
|
25
|
-
|
26
|
-
|
27
|
-
|
24
|
+
def self.get_interface
|
25
|
+
conn = InterfaceConnection.new
|
26
|
+
arduino = ArduinoFirmata.connect conn.port_str
|
27
|
+
arduino
|
28
|
+
end
|
28
29
|
|
30
|
+
end
|
29
31
|
end
|
data/lib/capoblo/version.rb
CHANGED