capoblo 0.1.0 → 0.1.1

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Files changed (8) hide show
  1. checksums.yaml +4 -4
  2. data/.gitignore +2 -1
  3. data/bin/capoblo +1 -0
  4. data/lib/capoblo/arduino_moves.rb +136 -134
  5. data/lib/capoblo/arduino_sensors.rb +28 -26
  6. data/lib/capoblo/interface_connection.rb +25 -23
  7. data/lib/capoblo/version.rb +1 -1
  8. metadata +1 -1
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+ data.tar.gz: 1940f520c5c3cc4382619feb4d3d070e10f263af5652ce698616c47de47bd48a24b4f647e6dcebb51a6c6fbde2191914fe92755f8cae949a363d67afe3f1eab7
data/.gitignore CHANGED
@@ -7,4 +7,5 @@
7
7
  /pkg/
8
8
  /spec/reports/
9
9
  /tmp/
10
- /.idea
10
+ /.idea
11
+ *.gem
data/bin/capoblo CHANGED
@@ -3,6 +3,7 @@ require 'rubygems'
3
3
  $:.unshift File.expand_path '../lib', File.dirname(__FILE__)
4
4
 
5
5
  require "capoblo"
6
+ require "capoblo/interface_connection"
6
7
 
7
8
 
8
9
  ## Connected Arduinos Information
data/lib/capoblo/arduino_moves.rb CHANGED
@@ -1,164 +1,166 @@
1
- class ArduinoMoves
1
+ module Capoblo
2
+ class ArduinoMoves
2
3
 
3
- attr_accessor :arduino
4
+ attr_accessor :arduino
4
5
 
5
- MIN_POWER = 60
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
- self.arduino.pin_mode LEFT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
22
- self.arduino.pin_mode LEFT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
23
- self.arduino.pin_mode LEFT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
24
- self.arduino.pin_mode RIGHT_DIGITAL_BACKWARD, ArduinoFirmata::OUTPUT
25
- self.arduino.pin_mode RIGHT_DIGITAL_FORWARD, ArduinoFirmata::OUTPUT
26
- self.arduino.pin_mode RIGHT_ANALOG_SIGNAL, ArduinoFirmata::OUTPUT
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
- end
29
+ end
29
30
 
30
- def run_forward(power = MIN_POWER, times = 0)
31
- set_all_forward
32
- if times == 0
33
- soft_run true, power
34
- else
35
- soft_run true, power
36
- sleep times
37
- stop_all
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
- def run_backward(power = MIN_POWER, times = 0)
42
- set_all_backward
43
- if times == 0
44
- soft_run true, power
45
- else
46
- soft_run true, power
47
- sleep times
48
- stop_all
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
- def rotate_clockwise
53
- set_left_forward
54
- set_right_backward
55
- soft_run
56
- end
53
+ def rotate_clockwise
54
+ set_left_forward
55
+ set_right_backward
56
+ soft_run
57
+ end
57
58
 
58
- def rotate_anticlockwise
59
- set_left_backward
60
- set_right_forward
61
- soft_run
62
- end
59
+ def rotate_anticlockwise
60
+ set_left_backward
61
+ set_right_forward
62
+ soft_run
63
+ end
63
64
 
64
- def turn_right(times = 3)
65
- set_left_forward
66
- set_right_forward
67
- run(LEFT_ANALOG_SIGNAL, 125)
68
- run(RIGHT_ANALOG_SIGNAL, 65)
69
- sleep times
70
- end
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
- def turn_left(times = 3)
74
- set_left_forward
75
- set_right_forward
76
- run(LEFT_ANALOG_SIGNAL, 65)
77
- run(RIGHT_ANALOG_SIGNAL, 125)
78
- sleep times
79
- end
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
- def turn_back_right(times = 3)
82
- set_left_backward
83
- set_right_backward
84
- run(LEFT_ANALOG_SIGNAL, 125)
85
- run(RIGHT_ANALOG_SIGNAL, 65)
86
- sleep times
87
- end
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
- def turn_back_left(times = 3)
90
- set_left_backward
91
- set_right_backward
92
- run(LEFT_ANALOG_SIGNAL, 65)
93
- run(RIGHT_ANALOG_SIGNAL, 125)
94
- sleep times
95
- end
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
- def stop_all
99
- run(LEFT_ANALOG_SIGNAL, 0)
100
- run(RIGHT_ANALOG_SIGNAL, 0)
101
- arduino.digital_write LEFT_DIGITAL_BACKWARD, false
102
- arduino.digital_write LEFT_DIGITAL_FORWARD, true
103
- arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
104
- arduino.digital_write RIGHT_DIGITAL_FORWARD, true
105
- end
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
- private
108
- def soft_run(is_continues = false, max_power = 145)
109
- if is_continues
110
- MIN_POWER.upto(max_power).each do |val|
111
- run(LEFT_ANALOG_SIGNAL, val)
112
- run(RIGHT_ANALOG_SIGNAL, val)
113
- sleep 0.01
114
- end
115
- else
116
- MIN_POWER.upto(max_power).each do |val|
117
- run(LEFT_ANALOG_SIGNAL, val)
118
- run(RIGHT_ANALOG_SIGNAL, val)
119
- sleep 0.01
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
- def run(depending_pin, power = MIN_POWER)
131
- arduino.analog_write depending_pin, power
132
- end
131
+ def run(depending_pin, power = MIN_POWER)
132
+ arduino.analog_write depending_pin, power
133
+ end
133
134
 
134
- def set_left_forward
135
- arduino.digital_write LEFT_DIGITAL_BACKWARD, false
136
- arduino.digital_write LEFT_DIGITAL_FORWARD, true
137
- end
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
- def set_right_forward
140
- arduino.digital_write RIGHT_DIGITAL_BACKWARD, false
141
- arduino.digital_write RIGHT_DIGITAL_FORWARD, true
142
- end
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
- def set_all_forward
145
- set_left_forward
146
- set_right_forward
147
- end
145
+ def set_all_forward
146
+ set_left_forward
147
+ set_right_forward
148
+ end
148
149
 
149
- def set_left_backward
150
- arduino.digital_write LEFT_DIGITAL_BACKWARD, true
151
- arduino.digital_write LEFT_DIGITAL_FORWARD, false
152
- end
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
- def set_right_backward
155
- arduino.digital_write RIGHT_DIGITAL_BACKWARD, true
156
- arduino.digital_write RIGHT_DIGITAL_FORWARD, false
157
- end
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
- def set_all_backward
160
- set_left_backward
161
- set_right_backward
162
- end
160
+ def set_all_backward
161
+ set_left_backward
162
+ set_right_backward
163
+ end
163
164
 
165
+ end
164
166
  end
data/lib/capoblo/arduino_sensors.rb CHANGED
@@ -1,39 +1,41 @@
1
- class ArduinoSensors
2
- attr_accessor :arduino, :front_distance, :rear_distance
1
+ module Capoblo
2
+ class ArduinoSensors
3
+ attr_accessor :arduino, :front_distance, :rear_distance
3
4
 
4
- ULTRASONIC_TRIGGER = 11
5
- ULTRASONIC_ECHO = 12
6
- AVOIDANCE_SENSOR_PIN = 2
5
+ ULTRASONIC_TRIGGER = 11
6
+ ULTRASONIC_ECHO = 12
7
+ AVOIDANCE_SENSOR_PIN = 2
7
8
 
8
9
 
9
- def initialize
10
- super
11
- self.arduino = ARDUINO_ONE
10
+ def initialize
11
+ super
12
+ self.arduino = ARDUINO_ONE
12
13
 
13
- self.arduino.pin_mode ULTRASONIC_TRIGGER, ArduinoFirmata::OUTPUT
14
- self.arduino.pin_mode ULTRASONIC_ECHO, ArduinoFirmata::INPUT
15
- self.arduino.pin_mode AVOIDANCE_SENSOR_PIN, ArduinoFirmata::INPUT
16
- end
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
- def front_distance
20
- @front_distance = 0
21
- ## For senfor is reading
20
+ def front_distance
21
+ @front_distance = 0
22
+ ## For senfor is reading
22
23
 
23
- arduino.digital_write ULTRASONIC_TRIGGER, false
24
- sleep 0.005
25
- arduino.digital_write ULTRASONIC_TRIGGER, true
26
- sleep 0.01
27
- arduino.digital_write ULTRASONIC_TRIGGER, false
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
- puts arduino.sysex 0x74, [ULTRASONIC_ECHO, 1]
31
- end
31
+ puts arduino.sysex 0x74, [ULTRASONIC_ECHO, 1]
32
+ end
32
33
 
33
- def rear_distance
34
- @rear_distance = arduino.digital_read 2
35
- @rear_distance
36
- end
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
data/lib/capoblo/interface_connection.rb CHANGED
@@ -1,29 +1,31 @@
1
- class InterfaceConnection
2
- #simplest ruby program to read from arduino serial,
3
- #using the SerialPort gem
4
- #(http://rubygems.org/gems/serialport)
5
- require "rubygems"
6
- require "arduino_firmata"
7
- require 'rubyserial'
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
- #require "date"
10
+ #require "date"
10
11
 
11
- attr_accessor :port_str, :baud_rate, :data_bits, :stop_bits, :parity
12
- #params for serial port
12
+ attr_accessor :port_str, :baud_rate, :data_bits, :stop_bits, :parity
13
+ #params for serial port
13
14
 
14
- def initialize
15
- super
16
- self.port_str = "/dev/ttyACM0" #may be different for you
17
- self.baud_rate = 9600
18
- self.data_bits = 8
19
- self.stop_bits = 1
20
- self.parity = SerialPort::NONE
21
- end
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
- def self.get_interface
24
- conn = InterfaceConnection.new
25
- arduino = ArduinoFirmata.connect conn.port_str
26
- arduino
27
- end
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
@@ -1,3 +1,3 @@
1
1
  module Capoblo
2
- VERSION = "0.1.0"
2
+ VERSION = "0.1.1"
3
3
  end
metadata CHANGED
@@ -1,7 +1,7 @@
1
1
  --- !ruby/object:Gem::Specification
2
2
  name: capoblo
3
3
  version: !ruby/object:Gem::Version
4
- version: 0.1.0
4
+ version: 0.1.1
5
5
  platform: ruby
6
6
  authors:
7
7
  - Oguzhan ilhan