farmbot-serial 0.0.1 → 0.0.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (15) hide show
  1. checksums.yaml +4 -4
  2. data/.gitignore +0 -1
  3. data/farmbot-serial.gemspec +2 -2
  4. data/lib/hardware_interface_arduino.rb +62 -163
  5. data/lib/hardware_interface_arduino_values_received.rb +8 -1
  6. data/lib/hardware_interface_write_status.rb +35 -0
  7. metadata +3 -13
  8. data/lib/arduino_default_params.rb +0 -148
  9. data/lib/hardware_interface.rb +0 -210
  10. data/lib/hardware_interface_arduino_write_status.rb +0 -30
  11. data/lib/hardware_interface_param.rb +0 -218
  12. data/lib/status.rb +0 -52
  13. data/spec/lib/ramps_arduino_write_status_spec.rb +0 -27
  14. data/spec/lib/ramps_param_spec.rb +0 -555
  15. data/spec/lib/ramps_spec.rb +0 -289
data/lib/arduino_default_params.rb DELETED
@@ -1,148 +0,0 @@
1
- # Put this in a module.
2
- $arduino_default_params = [
3
- {
4
- :name => 'PARAM_VERSION',
5
- :id => 0,
6
- :value => 0
7
- },
8
- {
9
- :name => 'MOVEMENT_TIMEOUT_X',
10
- :id => 11,
11
- :value => 15
12
- },
13
- {
14
- :name => 'MOVEMENT_TIMEOUT_Y',
15
- :id => 12,
16
- :value => 15
17
- },
18
- {
19
- :name => 'MOVEMENT_TIMEOUT_Z',
20
- :id => 13,
21
- :value => 15
22
- },
23
- {
24
- :name => 'MOVEMENT_INVERT_ENDPOINTS_X',
25
- :id => 21,
26
- :value => 0
27
- },
28
- {
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- :name => 'MOVEMENT_INVERT_ENDPOINTS_Y',
30
- :id => 22,
31
- :value => 0
32
- },
33
- {
34
- :name => 'MOVEMENT_INVERT_ENDPOINTS_Z',
35
- :id => 23,
36
- :value => 0
37
- },
38
- {
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- :name => 'MOVEMENT_INVERT_MOTOR_X',
40
- :id => 31,
41
- :value => 0
42
- },
43
- {
44
- :name => 'MOVEMENT_INVERT_MOTOR_Y',
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- :id => 32,
46
- :value => 0
47
- },
48
- {
49
- :name => 'MOVEMENT_INVERT_MOTOR_Z',
50
- :id => 33,
51
- :value => 0
52
- },
53
- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_X',
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- :id => 41,
56
- :value => 100
57
- },
58
- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_Y',
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- :id => 42,
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- :value => 100
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- },
63
- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_Z',
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- :id => 43,
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- :value => 100
67
- },
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- {
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- :name => 'MOVEMENT_HOME_UP_X',
70
- :id => 51,
71
- :value => 0
72
- },
73
- {
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- :name => 'MOVEMENT_HOME_UP_Y',
75
- :id => 52,
76
- :value => 0
77
- },
78
- {
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- :name => 'MOVEMENT_HOME_UP_Z',
80
- :id => 53,
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- :value => 0
82
- },
83
- {
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- :name => 'MOVEMENT_MIN_SPD_X',
85
- :id => 61,
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- :value => 200
87
- },
88
- {
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- :name => 'MOVEMENT_MIN_SPD_Y',
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- :id => 62,
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- :value => 200
92
- },
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- {
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- :name => 'MOVEMENT_MIN_SPD_Z',
95
- :id => 63,
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- :value => 200
97
- },
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- {
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- :name => 'MOVEMENT_MAX_SPD_X',
100
- :id => 71,
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- :value => 1000
102
- },
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- {
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- :name => 'MOVEMENT_MAX_SPD_Y',
105
- :id => 72,
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- :value => 1000
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- },
108
- {
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- :name => 'MOVEMENT_MAX_SPD_Z',
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- :id => 73,
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- :value => 1000
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- },
113
- {
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- :name => 'MOVEMENT_LENGTH_X',
115
- :id => 101,
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- :value => 1000
117
- },
118
- {
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- :name => 'MOVEMENT_LENGTH_Y',
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- :id => 102,
121
- :value => 1000
122
- },
123
- {
124
- :name => 'MOVEMENT_LENGTH_Z',
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- :id => 103,
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- :value => 1000
127
- },
128
- {
129
- :name => 'MOVEMENT_STEPS_PER_UNIT_X',
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- :id => 111,
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- :value => 5
132
- },
133
- {
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- :name => 'MOVEMENT_STEPS_PER_UNIT_Y',
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- :id => 112,
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- :value => 5
137
- },
138
- {
139
- :name => 'MOVEMENT_STEPS_PER_UNIT_Z',
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- :id => 113,
141
- :value => 5
142
- },
143
- {
144
- :name => 'TESTING',
145
- :id => 1,
146
- :value => 0
147
- }
148
- ]
data/lib/hardware_interface.rb DELETED
@@ -1,210 +0,0 @@
1
- ## HARDWARE INTERFACE
2
- ## ******************
3
-
4
- # Communicate with the arduino using a serial interface
5
- # All information is exchanged using a variation of g-code
6
- # Parameters are stored in the database
7
- module Fb
8
- class HardwareInterface
9
- class << self
10
- attr_accessor :current
11
-
12
- def current
13
- @current ||= self.new(true)
14
- end
15
- end
16
-
17
- attr_reader :ramps_param, :ramps_main, :ramps_arduino
18
- attr_accessor :status
19
-
20
- # initialize the interface
21
- #
22
- def initialize(test_mode)
23
- @status = Fb::Status.new
24
- @test_mode = test_mode
25
-
26
- # create the sub processing objects
27
- @ramps_param = Fb::HardwareInterfaceParam.new
28
- @ramps_arduino = Fb::HardwareInterfaceArduino.new(test_mode)
29
-
30
- @ramps_arduino.ramps_param = @ramps_param
31
- @ramps_arduino.ramps_main = self
32
- @ramps_param.ramps_arduino = @ramps_arduino
33
- @ramps_param.ramps_main = self
34
-
35
- @external_info = ""
36
-
37
- end
38
-
39
- ## INTERFACE FUNCTIONS
40
- ## *******************
41
-
42
- ## control additional I/O (servo, pins, water)
43
-
44
- # move a servo
45
- #
46
- def servo_std_move(pin, value)
47
- @ramps_arduino.execute_command("F61 P#{pin} V#{value}", false, @status_debug_msg)
48
- end
49
-
50
- # set standard pin value
51
- #
52
- def pin_std_set_value(pin, value, mode)
53
- @ramps_arduino.execute_command("F41 P#{pin} V#{value} M#{mode}", false, @status_debug_msg)
54
- end
55
-
56
- # read standard pin
57
- #
58
- def pin_std_read_value(pin, mode, external_info)
59
- @ramps_arduino.external_info = external_info
60
- @ramps_arduino.execute_command("F42 P#{pin} M#{mode}", false, @status_debug_msg)
61
- @external_info = ''
62
- end
63
-
64
- # set standard pin mode
65
- #
66
- def pin_std_set_mode(pin, mode)
67
- @ramps_arduino.execute_command("F43 P#{pin} M#{mode}", false, @status_debug_msg)
68
- end
69
-
70
- # set pulse on standard pin
71
- #
72
- def pin_std_pulse(pin, value1, value2, time, mode)
73
- @ramps_arduino.execute_command("F44 P#{pin} V#{value1} W#{value2} T#{time} M#{mode}", false, @status_debug_msg)
74
- end
75
-
76
- # dose an amount of water (in ml)
77
- #
78
- def dose_water(amount)
79
- @ramps_arduino.execute_command("F01 Q#{amount.to_i}", false, @status_debug_msg)
80
- end
81
-
82
- ## arduino status
83
-
84
- # read end stop status from the device
85
- #
86
- def read_end_stops()
87
- @ramps_arduino.execute_command('F81', false, @status_debug_msg)
88
- end
89
-
90
- # read current coordinates from the device
91
- #
92
- def read_postition()
93
- @ramps_arduino.execute_command('F82', false, @status_debug_msg)
94
- end
95
- # read current software version
96
- #
97
- def read_device_version()
98
- @ramps_arduino.execute_command('F83', false, @status_debug_msg)
99
- end
100
-
101
- ## basic movements
102
-
103
- # move all axis home
104
- #
105
- def move_home_all
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- status.info_target_x = 0
107
- status.info_target_y = 0
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- status.info_target_z = 0
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- @ramps_arduino.execute_command('G28', true, false)
110
- end
111
-
112
- # move the bot to the home position
113
- #
114
- def move_home_x
115
- status.info_target_x = 0
116
- @ramps_arduino.execute_command('F11', true, false)
117
- end
118
-
119
- # move the bot to the home position
120
- #
121
- def move_home_y
122
- status.info_target_y = 0
123
- @ramps_arduino.execute_command('F12', true, false)
124
- end
125
-
126
- # move the bot to the home position
127
- #
128
- def move_home_z
129
- status.info_target_z = 0
130
- @ramps_arduino.execute_command('F13', true, false)
131
- end
132
-
133
- # calibrate x axis
134
- #
135
- def calibrate_x
136
- status.info_target_x = 0
137
- @ramps_arduino.execute_command('F14', true, false)
138
- end
139
-
140
- # calibrate y axis
141
- #
142
- def calibrate_y
143
- status.info_target_y = 0
144
- @ramps_arduino.execute_command('F15', true, false)
145
- end
146
-
147
- # calibrate z axis
148
- #
149
- def calibrate_z
150
- status.info_target_z = 0
151
- @ramps_arduino.execute_command('F16', true, false)
152
- end
153
-
154
- # move the bot to the give coordinates
155
- #
156
- def move_absolute( coord_x, coord_y, coord_z)
157
-
158
- status.info_target_x = coord_x
159
- status.info_target_y = coord_y
160
- status.info_target_z = coord_z
161
-
162
- # calculate the number of steps for the motors to do
163
-
164
- steps_x = coord_x * @ramps_param.axis_x_steps_per_unit
165
- steps_y = coord_y * @ramps_param.axis_y_steps_per_unit
166
- steps_z = coord_z * @ramps_param.axis_z_steps_per_unit
167
-
168
- move_to_coord(steps_x, steps_y, steps_z )
169
-
170
- end
171
-
172
- # move the bot a number of units starting from the current position
173
- #
174
- def move_relative( amount_x, amount_y, amount_z)
175
-
176
- # calculate the number of steps for the motors to do
177
-
178
- status.info_target_x = status.info_current_x + amount_x
179
- status.info_target_y = status.info_current_y + amount_y
180
- status.info_target_z = status.info_current_z + amount_z
181
-
182
- steps_x = amount_x * @ramps_param.axis_x_steps_per_unit + status.info_current_x_steps
183
- steps_y = amount_y * @ramps_param.axis_y_steps_per_unit + status.info_current_y_steps
184
- steps_z = amount_z * @ramps_param.axis_z_steps_per_unit + status.info_current_z_steps
185
-
186
- move_to_coord( steps_x, steps_y, steps_z )
187
-
188
- end
189
-
190
- # drive the motors so the bot is moved a number of steps
191
- #
192
- def move_steps(steps_x, steps_y, steps_z)
193
- @ramps_arduino.execute_command("G01 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
194
- end
195
-
196
- # drive the motors so the bot is moved to a set location
197
- #
198
- def move_to_coord(steps_x, steps_y, steps_z)
199
- @ramps_arduino.execute_command("G00 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
200
- end
201
-
202
- ## parameter hanlding
203
-
204
- def check_parameters
205
- @ramps_param.check_parameters()
206
- end
207
-
208
- end
209
-
210
- end
data/lib/hardware_interface_arduino_write_status.rb DELETED
@@ -1,30 +0,0 @@
1
- module Fb
2
- class HardwareInterfaceArduinoWriteStatus
3
-
4
- attr_accessor :done, :code, :received, :start, :log, :onscreen, :text,
5
- :params, :timeout
6
-
7
- def initialize
8
- @done = 0
9
- @code = ''
10
- @received = ''
11
- @text = ''
12
- @params = ''
13
- @log = false
14
- @onscreen = false
15
- @start = Time.now
16
- @timeout = 5
17
- end
18
-
19
- def is_busy
20
- Time.now - @start < @timeout and @done == 0
21
- end
22
-
23
- def split_received
24
- # get the parameter and data part
25
- @code = received[0..2].upcase
26
- @params = received[3..-1].to_s.upcase.strip
27
- end
28
-
29
- end
30
- end
data/lib/hardware_interface_param.rb DELETED
@@ -1,218 +0,0 @@
1
- ## HARDWARE INTERFACE
2
- ## ******************
3
-
4
- # Communicate with the arduino using a serial interface
5
- # All information is exchanged using a variation of g-code
6
- # Parameters are stored in the database
7
- module Fb
8
- class HardwareInterfaceParam
9
-
10
- attr_accessor :params, :param_version_db, :param_version_ar, :params_in_sync,
11
- :axis_x_steps_per_unit, :axis_y_steps_per_unit, :axis_z_steps_per_unit,
12
- :ramps_arduino, :ramps_main
13
-
14
-
15
- # initialize the interface
16
- #
17
- def initialize
18
- @params = []
19
- @external_info = ""
20
- @param_version_db = 0
21
- @param_version_ar = 0
22
- @params_in_sync = false
23
-
24
- @axis_x_steps_per_unit = 1
25
- @axis_y_steps_per_unit = 1
26
- @axis_z_steps_per_unit = 1
27
-
28
- load_param_names()
29
-
30
-
31
- load_param_values_non_arduino()
32
-
33
- end
34
-
35
- ## DATABASE AND SETTINGS HANDLING
36
- ## ******************************
37
-
38
- # load non-arduino parameters
39
- #
40
- def load_param_values_non_arduino
41
-
42
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_X')
43
- @axis_x_steps_per_unit = p['value_db']
44
-
45
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_Y')
46
- @axis_y_steps_per_unit = p['value_db']
47
-
48
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_Z')
49
- @axis_z_steps_per_unit = p['value_db']
50
-
51
- end
52
-
53
- # load the id's of the arduino parameters
54
- #
55
- def load_param_names
56
- $arduino_default_params.each do |p|
57
- param_name_add(p[:name], p[:id], p[:value])
58
- end
59
- end
60
-
61
- # add a parameter to the param list
62
- #
63
- def param_name_add(name, id, default)
64
- found = false
65
- @params.each do |p|
66
- if p['name'] == name
67
- found = true
68
- end
69
- end
70
-
71
- if found == false
72
- param = Hash.new
73
- param['name'] = name
74
- param['id'] = id
75
- param['value_db'] = 0
76
- param['value_ar'] = 0
77
- param['default'] = default
78
- @params << param
79
- end
80
- end
81
-
82
- # get the parameter object by name
83
- #
84
- def get_param_by_name(name)
85
- param = nil
86
- @params.each do |p|
87
- if p['name'] == name
88
- param = p
89
- end
90
- end
91
- return param
92
- end
93
-
94
- # get the parameter object by id
95
- #
96
- def get_param_by_id(id)
97
- param = nil
98
- @params.each do |p|
99
- if p['id'] == id
100
- param = p
101
- end
102
- end
103
- return param
104
- end
105
-
106
- # get parameter object by name or id
107
- #
108
- def get_param(name_or_id, by_name_or_id)
109
- param = nil
110
- @params.each do |p|
111
- if (by_name_or_id == :by_id and p['id'] == name_or_id)
112
- param = p
113
- end
114
- if (by_name_or_id == :by_name and p['name'] == name_or_id)
115
- param = p
116
- end
117
- end
118
- return param
119
- end
120
-
121
- # save parameter value to the database
122
- #
123
- def save_param_value(name_or_id, by_name_or_id, from_device_or_db, value)
124
-
125
- param = get_param(name_or_id, by_name_or_id)
126
-
127
- if param != nil and from_device_or_db == :from_device
128
- param['value_ar'] = value
129
- end
130
- if param != nil and from_device_or_db == :from_db
131
- param['value_db'] = value
132
- end
133
- end
134
-
135
- # check to see of parameters in arduino are up to date
136
- #
137
- def check_parameters
138
- update_param_version_ar()
139
- compare_and_write_parameters()
140
- end
141
-
142
- def update_param_version_ar
143
- # read the parameter version in the database and in the device
144
- read_parameter_from_device(0)
145
-
146
- params.each do |p|
147
- if p['id'] == 0
148
- @param_version_ar = p['value_ar']
149
- end
150
- end
151
- end
152
-
153
- def compare_and_write_parameters
154
- # if the parameters in the device is different from the database parameter version
155
- # read and compare each parameter and write to device is different
156
-
157
- if @param_version_db != @param_version_ar
158
-
159
- load_param_values_non_arduino()
160
-
161
- if !parameters_different()
162
- @params_in_sync = true
163
- write_parameter_to_device(0, @param_version_db)
164
- else
165
- @params_in_sync = false
166
- end
167
- else
168
- @params_in_sync = true
169
- end
170
- end
171
-
172
- def parameters_different
173
- differences_found_total = false
174
- params.each do |p|
175
- if p['id'] != 0
176
- difference = check_and_write_parameter(p)
177
- if difference then
178
- @params_in_sync = false
179
- differences_found_total = true
180
- end
181
- end
182
- end
183
- differences_found_total
184
- end
185
-
186
- # synchronise a parameter value
187
- #
188
- def check_and_write_parameter(param)
189
-
190
- # read value from device and database
191
- read_parameter_from_device(param['id'])
192
-
193
- differences_found = false
194
-
195
- # if the parameter value between device and database is different, write value to device
196
- if param['value_db'] != param ['value_ar']
197
- differences_found = true
198
- write_parameter_to_device(param['id'],param['value_db'])
199
- end
200
-
201
- return differences_found
202
-
203
- end
204
-
205
- # read a parameter from arduino
206
- #
207
- def read_parameter_from_device(id)
208
- @ramps_arduino.execute_command("F21 P#{id}", false, false)
209
- end
210
-
211
- # write a parameter value to arduino
212
- #
213
- def write_parameter_to_device(id, value)
214
- @ramps_arduino.execute_command("F22 P#{id} V#{value}", false, false)
215
- end
216
-
217
- end
218
- end