icaro 1.0.1

data/lib/icaro.rb

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+#Icaro Ruby Api
+#
+require 'rubygems'
+require 'serialport'
+class Icaro
+
+#added aliases to use the same names as the apicaro on python api
+alias :activar :start
+alias :cerrar  :close
+alias :leer_analogico :read_analog
+alias :leer_digital :read_digital
+alias :activar_servo :servo
+alias :sonido :sound
+
+#look for the device ttyACM
+#initialize the device and check if Icaro board is conected and set
+# while icaro load the device may not be ready so we manage it with a rescue
+# icaro board is normally recognice as a /dev/ttyACM0 how ever in some cases
+# it sets on /dev/ttyACM1 so we read the device and set verify if its ready
+  def initialize
+	tty=Dir["/dev/ttyACM*"]
+	unless tty.count==0
+		tty.each do |device|	
+		  begin
+			@sp=SerialPort::new(device,{"baud"=>9600, "data_bits"=>8, "stop_bits"=>1, "parity"=>0})
+			@sp.read_timeout=128
+			@sp.write('b')
+			ttyread=@sp.read
+			if ttyread.include?("icaro") 
+				return true
+			else 	
+				return false
+			end
+		  rescue Errno::ENODEV => ex
+			STDERR.puts ex.message
+	          rescue Errno::EBUSY => ex
+			STDERR.puts ex.message
+		  rescue IOError => ex
+			STDERR.puts ex.message
+	          end		
+		end
+	else
+		puts "Please connect Icaro"
+	end 
+  end
+  def close 
+      @sp.close
+  end
+# set Icaro board to ready status
+# icaro=Icaro.new
+# icaro.start('1')
+  def start(value)
+    begin
+	@sp.write('s')
+	@sp.write(value)
+        return true
+    rescue IOError => ex
+        return ex
+    end
+  end
+#Motor move robot DC motors 
+# 1 forward
+# 2 back
+# 3 left
+# 4 right
+# 5 stop
+# values are strings
+# icaro.motor('1') move icaro forward
+#
+  def motor(value)
+    if [1,2,3,4].include?(value.to_i)
+     begin
+	@sp.write('l')
+	@sp.write(value)
+        return true
+     rescue IOError => ex
+        return ex
+     end
+    else
+     return false
+    end
+  end
+#read analog input sensors
+#there are 8 analog input ports
+# icaro.read_analog('3')
+  def read_analog(value)
+     if [1,2,3,4,5,6,7,8].include?(value.to_i)
+      begin
+	@sp.write('e')
+	@sp.write(value)
+	return @sp.read
+      rescue IOError => ex
+        return ex
+      end
+     else
+    	return false
+     end
+  end
+#read digital input sensor
+#there are 4 digital input sensors ports
+# d=icaro.read_digital('3')
+  def read_digital(value)
+    if [1,2,3,4].include?(value.to_i)
+      begin
+	@sp.write('d')
+	@sp.write(value)
+	return @sp.read==1 ? 1:0
+      rescue IOError => ex
+        return ex
+      end
+    else
+      return false
+    end
+  end
+#move servo motors
+#Icaro board has 5 servo engines ports
+#value is one of 255 characters and move the engine to that position
+# icaro.servo('1','x')
+  def servo(servo,value)
+    if [1,2,3,4,5].include?(servo.to_i)
+      begin
+	@sp.write('m')
+	@sp.write(servo)
+	@sp.write(value)
+	return true
+      rescue IOError => ex
+	return ex
+      end
+    else
+	return false
+    end
+  end
+#sound produce a sound on the port
+# icaro.sound('2','2')
+  def sound(audio,value)
+    begin
+	@sp.write('a')
+	@sp.write(audio)
+	@sp.write(value)
+	sleep(0.01)
+	@sp.write('s')
+	@sp.write('0')
+        return true
+    rescue IOError => ex
+        return ex
+    end
+
+  end
+end
+

metadata

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+--- !ruby/object:Gem::Specification
+name: icaro
+version: !ruby/object:Gem::Version
+  version: 1.0.1
+  prerelease: 
+platform: ruby
+authors:
+- Alejandro Pérez
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-03-28 00:00:00.000000000 Z
+dependencies: []
+description: Ruby api for Icaro Robot
+email: alejandro.perez.torres@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- lib/icaro.rb
+homepage: http://rubygems.org/gems/icaro
+licenses: []
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements:
+- serialport
+rubyforge_project: 
+rubygems_version: 1.8.25
+signing_key: 
+specification_version: 3
+summary: Icaro Ruby Api
+test_files: []