flying_robot 0.0.3

data/app_generators/flying_robot/templates/plugins/maxsonar.rb

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+# Plugin for Ruby Arduino Development that allows use of the Maxbotix MaxSonar ultrasonic range finder
+# Written by Ron Evans (http://deadprogrammersociety.com) for the flying_robot project
+#
+# Based on code taken from the Blimpduino project: http://code.google.com/p/blimpduino/source/browse/trunk/Ultrasonic_Sensor.pde
+class Maxsonar < ArduinoPlugin
+  external_variables "unsigned long maxsonar_refresh_rate = 1000"
+  external_variables "unsigned long maxsonar_last_reading_time = 0"
+  external_variables "long last_maxsonar_distance = 0"
+  external_variables "int ping_rx"
+  external_variables "bool maxsonar_init_complete"
+  
+  add_to_setup "maxsonar_init_complete = false;"
+  
+  long maxsonar_distance () {
+    return last_maxsonar_distance ;
+  }
+  
+  void reset_maxsonar() {
+    maxsonar_last_reading_time = millis();
+  }
+  
+  void init_maxsonar(int reset_pin) {
+    if (maxsonar_init_complete) {
+      return ;
+    }
+    
+    delay(250);
+    digitalWrite(reset_pin, HIGH);
+    delay(100);
+    last_maxsonar_distance = 0;
+    maxsonar_init_complete = true ;
+  }
+
+  int read_maxsonar(int an_pin) {
+    int dist = 0 ;
+    dist = analogRead(an_pin); 
+    dist = (dist / 2); 
+    return dist;
+  }
+  
+  void update_maxsonar(int an_pin, int reset_pin) {
+    init_maxsonar(reset_pin);
+    
+    if (millis() - maxsonar_last_reading_time > maxsonar_refresh_rate) {
+      last_maxsonar_distance = read_maxsonar(an_pin);
+    }
+  }
+  
+  void init_maxsonar_pw(int reset_pin) {
+    if (maxsonar_init_complete) {
+      return ;
+    }
+    
+    last_maxsonar_distance = 0;
+    digitalWrite(reset_pin, HIGH);
+    digitalWrite(reset_pin, LOW); // Activating MCU internal pull-down resistor
+    digitalWrite(reset_pin, HIGH);
+    delay(1000);
+    maxsonar_init_complete = true ;
+  }
+
+  int read_maxsonar_pw(int pw_pin) {
+    long pulse_length=0; //declaring variable
+    digitalWrite(ping_rx, HIGH); 
+    delay(37);
+    pulse_length=pulseIn(pw_pin, HIGH); //pulseIn function to mesure the lenght of the pulse
+    digitalWrite(ping_rx, LOW); 
+    pulse_length = (pulse_length / 147); 
+    return pulse_length;
+  }
+  
+  void update_maxsonar_pw(int pw_pin, int reset_pin) {
+    init_maxsonar_pw(reset_pin);
+    
+    if (millis() - maxsonar_last_reading_time > maxsonar_refresh_rate) {
+      last_maxsonar_distance = read_maxsonar_pw(pw_pin);
+    }
+  }
+  
+end

data/app_generators/flying_robot/templates/plugins/pololu_ir_receiver.rb

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+# Plugin for Ruby Arduino Development that allows use of the Pololu IR Receiver Beacons
+# Written by Ron Evans (http://deadprogrammersociety.com) for the flying_robot project
+#
+# Based on code taken from the Blimpduino project: http://code.google.com/p/blimpduino/source/browse/trunk/InfraRed.pde
+class PololuIrReceiver < ArduinoPlugin
+  external_variables "unsigned long ir_count[4]"
+  external_variables "int ir_beacon_direction = 0"
+  external_variables "unsigned long ir_beacon_refresh_rate = 500"
+  external_variables "unsigned long ir_beacon_last_reading_time = 0"
+  
+  plugin_directives "#define IR_BEACON_NOT_FOUND 0"
+  plugin_directives "#define IR_BEACON_FORWARD 1"
+  plugin_directives "#define IR_BEACON_RIGHT 2"
+  plugin_directives "#define IR_BEACON_BACK 3"
+  plugin_directives "#define IR_BEACON_LEFT 4"
+  
+  # this function returns either 0, meaning the IR beacon was not found
+  # or else 1 = Forward, 2 = Right, 3 = Back, 4 = Left
+  int current_ir_beacon_direction() {
+    return ir_beacon_direction ;
+  }  
+  
+  boolean ir_beacon_not_detected() {
+    return ir_beacon_direction == IR_BEACON_NOT_FOUND ;
+  }
+
+  boolean ir_beacon_forward() {
+    return ir_beacon_direction == IR_BEACON_FORWARD ;
+  }
+
+  boolean ir_beacon_right() {
+    return ir_beacon_direction == IR_BEACON_RIGHT ;
+  }
+
+  boolean ir_beacon_back() {
+    return ir_beacon_direction == IR_BEACON_BACK ;
+  }
+
+  boolean ir_beacon_left() {
+    return ir_beacon_direction == IR_BEACON_LEFT ;
+  }
+    
+  void reset_ir_receiver() {
+    ir_count[0] = 0 ;
+    ir_count[1] = 0 ;
+    ir_count[2] = 0 ;
+    ir_count[3] = 0 ;
+    ir_beacon_last_reading_time = millis();
+  }
+  
+  void finalize_ir_reading()
+  { 
+    ir_beacon_direction = 0 ;
+       
+    if(ir_count[0] + ir_count[1] + ir_count[2] + ir_count[3] > 10) {
+      if(ir_count[1]>ir_count[0]) // counter 1 (right IR sensor) is greater than the counter 0 (forward ir sensor)
+      {
+        ir_beacon_direction|=0x01; // set the bit 1 in high   (0b00000001)
+      } // if not leave it in cero (0b0000000). 
+
+      if(ir_count[3]>ir_count[2]) // the counter 3 (left IR sensor) is greater than the counter 2 (back ir sensor)..  
+      {
+        ir_beacon_direction|=0x02; // Put the second bit of the variable in HIGH example: 0b00000010
+      } // i f not leave it in cero.. 0b00000000
+
+      if(ir_count[(ir_beacon_direction&0x01)] > ir_count[((ir_beacon_direction>>1)+2)]) // Now compare the to greatest counters either counter 0 or 1, vs. 2 or 3, 
+      {
+        ir_beacon_direction&=0x01;  //If yes, store the position of the > value, but eliminate the second bit and leave the first bit untouched.. 
+      }
+      else
+      {
+        ir_beacon_direction=((ir_beacon_direction>>1)+2);  //Eliminate the first bit and plus two...
+      }
+      
+      ir_beacon_direction++;
+    }
+    
+    reset_ir_receiver();
+  }
+  
+  void update_ir_receiver(int front_pin, int right_pin, int back_pin, int left_pin) {
+    if (millis() - ir_beacon_last_reading_time > ir_beacon_refresh_rate) {
+      finalize_ir_reading();
+    } else {
+      if (digitalRead(front_pin) == LOW) {
+        ir_count[0]++;
+      }
+      if (digitalRead(right_pin) == LOW) {
+        ir_count[1]++;
+      }
+      if (digitalRead(back_pin) == LOW) {
+        ir_count[2]++;
+      }
+      if (digitalRead(left_pin) == LOW) {
+        ir_count[3]++;
+      }
+    }
+  }
+  
+  
+end

data/app_generators/flying_robot/templates/plugins/pololu_micro_serial_controller.rb

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+# Plugin for Ruby Arduino Development that allows use of the Pololu micro dual serial motor controller
+# Written by Ron Evans (http://deadprogrammersociety.com) for the flying_robot project
+#
+# This is the device this plugin works with:
+#   http://www.pololu.com/catalog/product/410
+#
+# Based on code taken from the Pololu forums: http://forum.pololu.com/viewtopic.php?f=15&t=1102&p=4913&hilit=arduino#p4913
+class PololuMicroSerialController < ArduinoPlugin
+  plugin_directives "#define LEFT_MOTOR  2"
+  plugin_directives "#define RIGHT_MOTOR 3"
+  
+  plugin_directives "#define FORWARD 1"
+  plugin_directives "#define REVERSE 0"
+
+  external_variables "bool mc_init_complete"
+  add_to_setup "mc_init_complete = false;"
+
+  void pmsc_init(int motor_controller_reset_pin)
+  {
+    if (mc_init_complete) {
+      return ;
+    }
+    
+    mc_init_complete = true ;
+      
+    // start up motor controller
+    digitalWrite(motor_controller_reset_pin, LOW);
+    delay(10);
+    digitalWrite(motor_controller_reset_pin, HIGH);
+
+    // let motor controller wake up
+    delay(100);
+  }
+
+  void pmsc_send_command(SoftwareSerial& motor_controller, byte motor, byte direction, byte speed)
+  {
+    unsigned char mc_command[4];
+    direction = constrain(direction, 0,   1);
+    speed     = constrain(speed,   0, 127);
+
+    mc_command[0] = 0x80; // start byte
+    mc_command[1] = 0x00; // Device type byte
+    mc_command[2] = (2 * motor) + (direction == FORWARD ? FORWARD : REVERSE); // Motor number and direction byte
+    mc_command[3] = speed; // Motor speed (0 to 127)
+
+    // send data
+    for(int i = 0; i < 4; i++)
+    { motor_controller.print(mc_command[i], BYTE); }
+  }
+
+end

data/app_generators/flying_robot/templates/plugins/pololu_qik_dual_serial_motor_controller.rb

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+# Plugin for Ruby Arduino Development that allows use of the Pololu Qik 2s9v1 Serial controller
+# Written by Ron Evans (http://deadprogrammersociety.com) for the flying_robot project
+#
+# This is the device this plugin works with:
+#   http://www.pololu.com/catalog/product/1110
+# It may work with other Pololu motor controllers, but is NOT compatible with the Micro Serial Controller's command set
+#
+class PololuQikDualSerialMotorController < ArduinoPlugin
+  plugin_directives "#define LEFT_MOTOR  2"
+  plugin_directives "#define RIGHT_MOTOR 3"
+  
+  plugin_directives "#define FORWARD 1"
+  plugin_directives "#define REVERSE 0"
+
+  external_variables "bool mc_init_complete"
+  add_to_setup "mc_init_complete = false;"
+
+  void qik_init(int motor_controller_reset_pin, SoftwareSerial& motor_controller)
+  {
+    if (mc_init_complete) {
+      return ;
+    }
+    
+    mc_init_complete = true ;
+      
+    // start up motor controller
+    digitalWrite(motor_controller_reset_pin, LOW);
+    delay(10);
+    digitalWrite(motor_controller_reset_pin, HIGH);
+
+    // let motor controller wake up
+    delay(100);
+    
+    // turn off Pololu auto-disable on errors
+    unsigned char mc_command[7];
+    mc_command[0] = 0xAA; // start command
+    mc_command[1] = 0x09; // device number
+    mc_command[2] = 0x04; // set configuration parameter 
+    mc_command[3] = 0x02; // Shutdown Motors on Error
+    mc_command[4] = 0x00; // do not shutdown
+    mc_command[5] = 0x55; // command terminator
+    mc_command[6] = 0x2A; // end command
+    
+    // send data
+    for(int i = 0; i < 7; i++)
+    { motor_controller.print(mc_command[i], BYTE); }
+    
+    delay(10);
+  }
+
+  void qik_send_command(SoftwareSerial& motor_controller, byte motor, byte direction, byte speed)
+  {
+    unsigned char mc_command[4];
+    direction = constrain(direction, 0,   1);
+    speed     = constrain(speed,   0, 127);
+
+    mc_command[0] = 0xAA;
+    mc_command[1] = 0x09;
+    
+    if (motor == LEFT_MOTOR) {
+      if (direction == FORWARD) {
+        mc_command[2] = 0x88; // M0 forward
+      } else {
+        mc_command[2] = 0x8A; // M0 reverse
+      }
+    } else {
+      if (direction == FORWARD) {
+        mc_command[2] = 0x8C; // M1 forward
+      } else {
+        mc_command[2] = 0x8E; // M2 reverse
+      }
+    }
+
+    mc_command[3] = speed; // Motor speed (0 to 127)
+
+    // send data
+    for(int i = 0; i < 4; i++)
+    { motor_controller.print(mc_command[i], BYTE); }
+  }
+
+end

data/app_generators/flying_robot/templates/sketch.rb.erb

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+# <%= base_name %>
+#
+# Uses Ruby Arduino Development to create Unmanned Aerial Vehicles
+# Written by Ron Evans (http://deadprogrammersociety.com)
+# Based on flying_robot library (http://flyingrobo.com)
+#
+# This sketch that uses the flying_robot parser, you just need to implement the methods that make up its interface
+# so that it will respond to the standard command set.
+# 
+# The following commands are supported:
+# (h)ail - See if the UAV can still respond. Should send "Roger" back.
+# (s)tatus - Grab a snapshot of all instrument readings plus any other status info that the UAV can support
+# (e)levators - Set the elevators. The command supports two parameters:
+#   direction - enter 'u' for up, 'c' for centered, or 'd' for down
+#   deflection - enter an angle between 0 and 90 degrees
+# (r)udder - Set the rudder. This command supports two parameters:
+#   direction - enter 'l' for left, 'c' for centered, or 'r' for right
+#   deflection - enter an angle between 0 and 90 degrees
+# (a)ilerons - Set the ailerons. This command supports two parameters:
+#   direction - enter 'l' for left, 'c' for centered, or 'r' for right
+#   deflection - enter an angle between 0 and 90 degrees
+# (t)hrottle - Set the throttle. This command supports two parameters:
+#   direction - enter 'f' for forward, or 'r' for reverse
+#   speed - enter a percentage from 0 to 100
+# (i)nstruments - Read the current data for one of the installed instruments on the UAV. This command supports one parameter:
+#   id - enter an integer for which instrment readings should be returned from. If there is not an instrument installed
+#        for that id 'Invalid instrument' will be returned
+# (p)rogram - Engage whatever autopilot program is available, if any. This command supports one parameter:
+#   id - enter an integer for which autopilot routine should be used. Enter 0 to cancel autopilot
+#
+class <%= base_name.camelize -%> < ArduinoSketch
+  serial_begin :rate => 9600
+  
+  # main command loop, required for any arduino program
+  def loop
+    be_flying_robot
+    process_command
+  end
+
+  # flying robot interface, implement these for your own hardware set
+  def hail
+    serial_println "Roger"
+  end
+  
+  def status
+    serial_println "Status: operational"
+  end
+  
+  def elevators
+    print_current_command("Elevators", current_elevator_deflection)
+  end
+
+  def ailerons
+    print_current_command("Ailerons", current_ailerons_deflection)
+  end
+    
+  def rudder
+    print_current_command("Rudder", current_rudder_deflection)
+  end
+  
+  def throttle
+    print_current_command("Throttle", current_throttle_speed)
+  end
+    
+  def instruments
+    serial_print "Instruments command - request:"
+    serial_println current_command_instrument
+  end
+  
+  def autopilot
+    if current_command_autopilot == '0'
+      # autopilot cancel
+      serial_println "Autopilot Is Off"
+    end
+    
+    if current_command_autopilot == '1'
+      autopilot_on
+      serial_println "Autopilot Is On"
+    end
+  end
+end

data/bin/flying_robot

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+#!/usr/bin/env ruby
+
+require 'rubygems'
+require 'rubigen'
+
+if %w(-v --version).include? ARGV.first
+  require 'flying_robot/version'
+  puts "#{File.basename($0)} #{FlyingRobot::VERSION}"
+  exit(0)
+end
+
+require 'rubigen/scripts/generate'
+source = RubiGen::PathSource.new(:application, 
+  File.join(File.dirname(__FILE__), "../app_generators"))
+RubiGen::Base.reset_sources
+RubiGen::Base.append_sources source
+RubiGen::Scripts::Generate.new.run(ARGV, :generator => 'flying_robot')

data/flying_robot.gemspec

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+# -*- encoding: utf-8 -*-
+
+Gem::Specification.new do |s|
+  s.name = "flying_robot"
+  s.version = "0.0.3"
+
+  s.required_rubygems_version = Gem::Requirement.new(">= 0") if s.respond_to? :required_rubygems_version=
+  s.authors = ["Ron Evans"]
+  s.date = %q{2009-11-15}
+  s.default_executable = %q{flying_robot}
+  s.description = %q{flying_robot takes a standard Ruby Arduino Development (RAD) project, and turns it into a Unmanned Aerial Vehicle (UAV)}
+  s.email = ["ron dot evans at gmail dot com"]
+  s.executables = ["flying_robot"]
+  s.extra_rdoc_files = ["History.txt", "Manifest.txt", "PostInstall.txt", "README.txt"]
+  s.files = ["History.txt", "Manifest.txt", "PostInstall.txt", "README.rdoc", "README.txt", "Rakefile", "app_generators/flying_robot/USAGE", "app_generators/flying_robot/flying_robot_generator.rb", "app_generators/flying_robot/templates/plugins/Hmc6352_compass.rb", "app_generators/flying_robot/templates/plugins/battery.rb", "app_generators/flying_robot/templates/plugins/flying_robot.rb", "app_generators/flying_robot/templates/plugins/pololu_ir_receiver.rb", "app_generators/flying_robot/templates/plugins/pololu_micro_serial_controller.rb", "app_generators/flying_robot/templates/plugins/pololu_qik_dual_serial_motor_controller.rb", "app_generators/flying_robot/templates/plugins/L293d.rb", "app_generators/flying_robot/templates/plugins/maxsonar.rb", "app_generators/flying_robot/templates/sketch.rb.erb", "bin/flying_robot", "flying_robot.gemspec", "lib/flying_robot.rb", "script/console", "script/destroy", "script/generate", "spec/flying_robot_spec.rb", "spec/spec.opts", "spec/spec_helper.rb", "tasks/rspec.rake", "test/test_flying_robot_generator.rb", "test/test_generator_helper.rb"]
+  s.homepage = %q{http://github.com/deadprogrammer/flying_robot}
+  s.rdoc_options = ["--main", "README.txt"]
+  s.require_paths = ["lib"]
+  s.rubyforge_project = %q{deadprogrammer}
+  s.rubygems_version = %q{1.3.5}
+  s.summary = %q{flying_robot takes a standard Ruby Arduino Development (RAD) project, and turns it into a Unmanned Aerial Vehicle (UAV)}
+  s.test_files = ["test/test_flying_robot_generator.rb", "test/test_generator_helper.rb"]
+
+  if s.respond_to? :specification_version then
+    current_version = Gem::Specification::CURRENT_SPECIFICATION_VERSION
+    s.specification_version = 3
+
+    if Gem::Version.new(Gem::RubyGemsVersion) >= Gem::Version.new('1.2.0') then
+      s.add_development_dependency(%q<hoe>, [">= 2.3.3"])
+    else
+      s.add_dependency(%q<hoe>, [">= 2.3.3"])
+    end
+  else
+    s.add_dependency(%q<hoe>, [">= 2.3.3"])
+  end
+end