farmbot-serial 0.0.1

checksums.yaml

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+---
+SHA1:
+  metadata.gz: 07780e1523d04161c781211ba25173ffa6e51db0
+  data.tar.gz: f2677ab821c15c5664f099d7afd7e51805b2f2b2
+SHA512:
+  metadata.gz: 34dffc021c50794f21635582f35c102f6199c9ee349bb53f496ec9b15655c702ba4f01725c713366b1cd4611b588fa47212bd7346418ad08aa85b25cdbd9cc09
+  data.tar.gz: 6f5bc299b55e95d3083c255d0f30d13f7b7db18b3a36740a61cc4d923f6f4e14f4f73fb367d1b6198293ebcc1660b845ffd96225e0480099240fa83a6ded11c6

data/.gitignore

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+*.gem
+*.rbc
+*.swp
+.bundle/*
+.DS_Store
+.idea/*
+.loadpath
+.project
+.ruby-gemset
+.ruby-version
+/.bundle
+/.bundle/
+/.yardoc/
+/_yardoc/
+/coverage/
+/coverage/
+/db/*.sqlite3
+/db/*.sqlite3-journal
+/doc/
+/InstalledFiles
+/lib/.build
+/lib/bundler/man/
+/log/*.log
+/pkg/
+/rdoc/
+/spec/reports/
+/test/tmp/
+/test/version_tmp/
+/tmp
+/tmp/
+config.yml
+coverage/**
+credentials.yml
+doc/*
+doc/**/*
+Gemfile.lock
+log/*
+notes.rb
+settings.rb
+/lib/.build
+write_db_settings.rb
+snippet.coffee
+snippets.rb
+tmp/**/*
+*.rb~
+Gemfile.lock

data/Gemfile

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+source 'https://rubygems.org'
+
+gem 'rspec'
+gem 'pry'
+gem 'simplecov'
+gem 'serialport'

data/README.md

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+Under construction.

data/Rakefile

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+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  t.libs << 'test'
+  t.test_files = Dir.glob('test/**/*_test.rb')
+end
+
+desc "Run tests"
+task :default => :test

data/farmbot-serial.gemspec

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+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+
+Gem::Specification.new do |spec|
+  spec.name          = "farmbot-serial"
+  spec.version       = '0.0.1' # TODO: Fb::Serial::VERSION
+  spec.authors       = ["Tim Evers", "Rick Carlino"]
+  spec.email         = ["rick.carlino@gmail.com"]
+  spec.description   = "Serial library for Farmbot"
+  spec.summary       = "Serial library for Farmbot"
+  spec.homepage      = "http://github.com/farmbot/farmbot-serial"
+  spec.license       = "MIT"
+
+  spec.files         = `git ls-files`.split($/)
+  spec.executables   = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
+  spec.test_files    = spec.files.grep(%r{^(test|spec|features)/})
+  spec.require_paths = ["lib"]
+
+  spec.add_development_dependency "bundler"#,    "~> 1.3"
+  spec.add_development_dependency "rake"#,       "~> 10.4"
+  spec.add_development_dependency "rspec"#,      "~> 3.2"
+  spec.add_development_dependency "pry"#,        "~> 0.10"
+  spec.add_development_dependency "simplecov"#,  "~> 0.9"
+
+  spec.add_runtime_dependency        "serialport"#, "~> 1.3"
+end

data/lib/arduino_default_params.rb

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+# Put this in a module.
+$arduino_default_params = [
+                            {
+                              :name  => 'PARAM_VERSION',
+                              :id    => 0,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_TIMEOUT_X',
+                              :id    => 11,
+                              :value => 15
+                            },
+                            {
+                              :name  => 'MOVEMENT_TIMEOUT_Y',
+                              :id    => 12,
+                              :value => 15
+                            },
+                            {
+                              :name  => 'MOVEMENT_TIMEOUT_Z',
+                              :id    => 13,
+                              :value => 15
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_ENDPOINTS_X',
+                              :id    => 21,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_ENDPOINTS_Y',
+                              :id    => 22,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_ENDPOINTS_Z',
+                              :id    => 23,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_MOTOR_X',
+                              :id    => 31,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_MOTOR_Y',
+                              :id    => 32,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_INVERT_MOTOR_Z',
+                              :id    => 33,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_ACC_DEC_X',
+                              :id    => 41,
+                              :value => 100
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_ACC_DEC_Y',
+                              :id    => 42,
+                              :value => 100
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_ACC_DEC_Z',
+                              :id    => 43,
+                              :value => 100
+                            },
+                            {
+                              :name  => 'MOVEMENT_HOME_UP_X',
+                              :id    => 51,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_HOME_UP_Y',
+                              :id    => 52,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_HOME_UP_Z',
+                              :id    => 53,
+                              :value => 0
+                            },
+                            {
+                              :name  => 'MOVEMENT_MIN_SPD_X',
+                              :id    => 61,
+                              :value => 200
+                            },
+                            {
+                              :name  => 'MOVEMENT_MIN_SPD_Y',
+                              :id    => 62,
+                              :value => 200
+                            },
+                            {
+                              :name  => 'MOVEMENT_MIN_SPD_Z',
+                              :id    => 63,
+                              :value => 200
+                            },
+                            {
+                              :name  => 'MOVEMENT_MAX_SPD_X',
+                              :id    => 71,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_MAX_SPD_Y',
+                              :id    => 72,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_MAX_SPD_Z',
+                              :id    => 73,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_LENGTH_X',
+                              :id    => 101,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_LENGTH_Y',
+                              :id    => 102,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_LENGTH_Z',
+                              :id    => 103,
+                              :value => 1000
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_PER_UNIT_X',
+                              :id    => 111,
+                              :value => 5
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_PER_UNIT_Y',
+                              :id    => 112,
+                              :value => 5
+                            },
+                            {
+                              :name  => 'MOVEMENT_STEPS_PER_UNIT_Z',
+                              :id    => 113,
+                              :value => 5
+                            },
+                            {
+                              :name  => 'TESTING',
+                              :id    => 1,
+                              :value => 0
+                            }
+                          ]

data/lib/farmbot-serial.rb

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+require 'serialport'
+require 'serial_port_sim'
+require 'status'
+require 'arduino_default_params'
+require 'hardware_interface_arduino'
+require 'hardware_interface_param'
+require 'hardware_interface'
+require 'hardware_interface_arduino_values_received'
+require 'hardware_interface_arduino_write_status'

data/lib/hardware_interface.rb

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+## HARDWARE INTERFACE
+## ******************
+
+# Communicate with the arduino using a serial interface
+# All information is exchanged using a variation of g-code
+# Parameters are stored in the database
+module Fb
+  class HardwareInterface
+    class << self
+      attr_accessor :current
+
+      def current
+        @current ||= self.new(true)
+      end
+    end
+
+    attr_reader :ramps_param, :ramps_main, :ramps_arduino
+    attr_accessor :status
+
+    # initialize the interface
+    #
+    def initialize(test_mode)
+      @status = Fb::Status.new
+      @test_mode = test_mode
+
+      # create the sub processing objects
+      @ramps_param   = Fb::HardwareInterfaceParam.new
+      @ramps_arduino = Fb::HardwareInterfaceArduino.new(test_mode)
+
+      @ramps_arduino.ramps_param = @ramps_param
+      @ramps_arduino.ramps_main  = self
+      @ramps_param.ramps_arduino = @ramps_arduino
+      @ramps_param.ramps_main    = self
+
+      @external_info = ""
+
+    end
+
+    ## INTERFACE FUNCTIONS
+    ## *******************
+
+    ## control additional I/O (servo, pins, water)
+
+    # move a servo
+    #
+    def servo_std_move(pin, value)
+      @ramps_arduino.execute_command("F61 P#{pin} V#{value}", false, @status_debug_msg)
+    end
+
+    # set standard pin value
+    #
+    def pin_std_set_value(pin, value, mode)
+      @ramps_arduino.execute_command("F41 P#{pin} V#{value} M#{mode}", false, @status_debug_msg)
+    end
+
+    # read standard pin
+    #
+    def pin_std_read_value(pin, mode, external_info)
+      @ramps_arduino.external_info = external_info
+      @ramps_arduino.execute_command("F42 P#{pin} M#{mode}", false, @status_debug_msg)
+      @external_info = ''
+    end
+
+    # set standard pin mode
+    #
+    def pin_std_set_mode(pin, mode)
+      @ramps_arduino.execute_command("F43 P#{pin} M#{mode}", false, @status_debug_msg)
+    end
+
+    # set pulse on standard pin
+    #
+    def pin_std_pulse(pin, value1, value2, time, mode)
+      @ramps_arduino.execute_command("F44 P#{pin} V#{value1} W#{value2} T#{time} M#{mode}", false, @status_debug_msg)
+    end
+
+    # dose an amount of water (in ml)
+    #
+    def dose_water(amount)
+      @ramps_arduino.execute_command("F01 Q#{amount.to_i}", false, @status_debug_msg)
+    end
+
+    ## arduino status
+
+    # read end stop status from the device
+    #
+    def read_end_stops()
+      @ramps_arduino.execute_command('F81', false, @status_debug_msg)
+    end
+
+    # read current coordinates from the device
+    #
+    def read_postition()
+      @ramps_arduino.execute_command('F82', false, @status_debug_msg)
+    end
+    # read current software version
+    #
+    def read_device_version()
+      @ramps_arduino.execute_command('F83', false, @status_debug_msg)
+    end
+
+    ## basic movements
+
+    # move all axis home
+    #
+    def move_home_all
+      status.info_target_x = 0
+      status.info_target_y = 0
+      status.info_target_z = 0
+      @ramps_arduino.execute_command('G28', true, false)
+    end
+
+    # move the bot to the home position
+    #
+    def move_home_x
+      status.info_target_x = 0
+      @ramps_arduino.execute_command('F11', true, false)
+    end
+
+    # move the bot to the home position
+    #
+    def move_home_y
+      status.info_target_y = 0
+      @ramps_arduino.execute_command('F12', true, false)
+    end
+
+    # move the bot to the home position
+    #
+    def move_home_z
+      status.info_target_z = 0
+      @ramps_arduino.execute_command('F13', true, false)
+    end
+
+    # calibrate x axis
+    #
+    def calibrate_x
+      status.info_target_x = 0
+      @ramps_arduino.execute_command('F14', true, false)
+    end
+
+    # calibrate y axis
+    #
+    def calibrate_y
+      status.info_target_y = 0
+      @ramps_arduino.execute_command('F15', true, false)
+    end
+
+    # calibrate z axis
+    #
+    def calibrate_z
+      status.info_target_z = 0
+      @ramps_arduino.execute_command('F16', true, false)
+    end
+
+    # move the bot to the give coordinates
+    #
+    def move_absolute( coord_x, coord_y, coord_z)
+
+      status.info_target_x = coord_x
+      status.info_target_y = coord_y
+      status.info_target_z = coord_z
+
+      # calculate the number of steps for the motors to do
+
+      steps_x = coord_x * @ramps_param.axis_x_steps_per_unit
+      steps_y = coord_y * @ramps_param.axis_y_steps_per_unit
+      steps_z = coord_z * @ramps_param.axis_z_steps_per_unit
+
+      move_to_coord(steps_x, steps_y, steps_z )
+
+    end
+
+    # move the bot a number of units starting from the current position
+    #
+    def move_relative( amount_x, amount_y, amount_z)
+
+      # calculate the number of steps for the motors to do
+
+      status.info_target_x = status.info_current_x + amount_x
+      status.info_target_y = status.info_current_y + amount_y
+      status.info_target_z = status.info_current_z + amount_z
+
+      steps_x = amount_x * @ramps_param.axis_x_steps_per_unit + status.info_current_x_steps
+      steps_y = amount_y * @ramps_param.axis_y_steps_per_unit + status.info_current_y_steps
+      steps_z = amount_z * @ramps_param.axis_z_steps_per_unit + status.info_current_z_steps
+
+      move_to_coord( steps_x, steps_y, steps_z )
+
+    end
+
+    # drive the motors so the bot is moved a number of steps
+    #
+    def move_steps(steps_x, steps_y, steps_z)
+      @ramps_arduino.execute_command("G01 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
+    end
+
+    # drive the motors so the bot is moved to a set location
+    #
+    def move_to_coord(steps_x, steps_y, steps_z)
+      @ramps_arduino.execute_command("G00 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
+    end
+
+    ## parameter hanlding
+
+    def check_parameters
+       @ramps_param.check_parameters()
+    end
+
+  end
+
+end