icaro 1.0.3 → 1.0.4
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- data/lib/icaro.rb +39 -6
- metadata +1 -1
data/lib/icaro.rb
CHANGED
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@@ -5,12 +5,6 @@ require 'serialport'
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5
5
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class Icaro
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6
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7
7
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#added aliases to use the same names as the apicaro on python api
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8
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-
alias :activar :start
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9
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-
alias :cerrar :close
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10
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-
alias :leer_analogico :read_analog
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11
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-
alias :leer_digital :read_digital
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12
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-
alias :activar_servo :servo
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13
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-
alias :sonido :sound
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8
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#look for the device ttyACM
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#initialize the device and check if Icaro board is conected and set
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@@ -35,6 +29,8 @@ alias :sonido :sound
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STDERR.puts ex.message
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rescue Errno::EBUSY => ex
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STDERR.puts ex.message
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+
rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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STDERR.puts ex.message
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end
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@@ -43,9 +39,19 @@ alias :sonido :sound
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puts "Please connect Icaro"
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end
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end
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+
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def close
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begin
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@sp.close
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return true
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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49
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rescue IOError => ex
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return ex
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end
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end
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+
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54
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+
alias cerrar close
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# set Icaro board to ready status
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# icaro=Icaro.new
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# icaro.start('1')
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@@ -54,10 +60,15 @@ alias :sonido :sound
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@sp.write('s')
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@sp.write(value)
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return true
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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end
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+
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+
alias activar start
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+
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#Motor move robot DC motors
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# 1 forward
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# 2 back
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@@ -73,6 +84,8 @@ alias :sonido :sound
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@sp.write('l')
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@sp.write(value)
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return true
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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@@ -80,6 +93,7 @@ alias :sonido :sound
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return false
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end
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end
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+
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#read analog input sensors
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#there are 8 analog input ports
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# icaro.read_analog('3')
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@@ -89,6 +103,8 @@ alias :sonido :sound
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@sp.write('e')
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@sp.write(value)
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return @sp.read
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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@@ -96,6 +112,9 @@ alias :sonido :sound
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return false
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end
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end
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+
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alias leer_analogico read_analog
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#read digital input sensor
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#there are 4 digital input sensors ports
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# d=icaro.read_digital('3')
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@@ -105,6 +124,8 @@ alias :sonido :sound
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@sp.write('d')
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@sp.write(value)
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return @sp.read==1 ? 1:0
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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@@ -112,6 +133,9 @@ alias :sonido :sound
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return false
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end
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end
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+
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alias leer_digital read_digital
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#move servo motors
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#Icaro board has 5 servo engines ports
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#value is one of 255 characters and move the engine to that position
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@@ -123,6 +147,8 @@ alias :sonido :sound
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@sp.write(servo)
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@sp.write(value)
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return true
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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@@ -130,6 +156,9 @@ alias :sonido :sound
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return false
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end
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end
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+
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+
alias activar_servo servo
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+
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#sound produce a sound on the port
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# icaro.sound('2','2')
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def sound(audio,value)
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@@ -141,10 +170,14 @@ alias :sonido :sound
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@sp.write('s')
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@sp.write('0')
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return true
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rescue Errno::EIO => ex
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STDERR.puts ex.message
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rescue IOError => ex
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return ex
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end
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end
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+
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+
alias sonido sound
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end
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