mi100 0.4.0 → 0.4.2

data/lib/mi100.rb

@@ -1,315 +1,367 @@
-# mi100.rb
-# Copyright (c) 2014 Masami Yamakawa
-#
-# This software is released under the MIT License.
-# http://opensource.org/lisenses/mit-license.php
-
-require 'mi100/version'
-require 'mi100/morsecoder'
-require 'timeout'
-
-class Mi100
-
-  DEFAULT_RETRIES     = 5
-  READ_TIMEOUT        = 5000
-  WRITE_TIMEOUT       = 5000
-  SHORT_READ_TIMEOUT  = 1
-
-  CMD_PING            = "H"
-  CMD_GET_POWER_LEVEL = "H"
-  CMD_STOP            = "S"
-  CMD_MOVE_FORWARD    = "F"
-  CMD_MOVE_BACKWARD   = "B"
-  CMD_SPIN_RIGHT      = "R"
-  CMD_SPIN_LEFT       = "L"
-  CMD_BLINK_LED       = "D"
-  CMD_TONE            = "T"
-  CMD_GET_LIGHT       = "P"
-  CMD_TURN_RIGHT      = "U"
-  CMD_TURN_LEFT       = "A"
-  CMD_SET_SPEED       = "W"
-  CMD_FREE_RAM        = "M"
-
-  DEFAULT_SPEED           = 1023
-  DEFAULT_MOVE_DURATION   = 300
-  DEFAULT_SPIN_DURATION   = 140
-  DEFAULT_BLINK_DURATION  = 600
-  DEFAULT_TONE_DURATION   = 300
-
-  DEFAULT_MOVE_DIRECTION  = "FORWARD"
-  DEFAULT_SPIN_DIRECTION  = "RIGHT"
-
-  FREQUENCY = { DO:   262,
-                DOS:  277,
-                RE:   294,
-                RES:  311,
-                MI:   330,
-                FA:   349,
-                FAS:  370,
-                SO:   392,
-                SOS:  415,
-                LA:   440,
-                LAS:  466,
-                SI:   494,
-                HDO:  523,
-                HDOS: 554,
-                HRE:  587,
-                HRES: 622,
-                HMI:  659,
-                HFA:  698,
-                HFAS: 740,
-                HSO:  784,
-                HSOS: 831,
-                HLA:  880,
-                HSI:  988,
-              }
-
-  def initialize(dev)
-    retries_left = DEFAULT_RETRIES
-    begin
-      initialize_serialport dev
-    rescue Errno::ENOENT
-      puts "Retry Bluetooth connection: #{retries_left.to_s}"
-      retries_left -= 1
-      retry unless retries_left < 0
-      puts "Bluetooth connection failed."
-      raise
-    end
-
-  end
-
-  def close
-    sleep 2
-    @sp.close
-  end
-
-  def ping
-    send_command_get_response CMD_PING
-  end
-
-  def power
-    response = send_command_get_response CMD_GET_POWER_LEVEL
-    voltage = response[1].to_i / 1000.0
-    voltage.round 2
-  end
-
-  def light
-    response = send_command_get_response CMD_GET_LIGHT
-    response[1].to_i
-  end
-
-  def move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION)
-    cmd = direction.upcase == "BACKWARD" ? CMD_MOVE_BACKWARD : CMD_MOVE_FORWARD
-    send_command_get_response "#{cmd},#{duration.to_s}"
-  end
-
-  def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
-    cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
-    send_command_get_response "#{cmd},#{duration.to_s}"
-  end
-
-  def move_forward(duration)
-    send_command_get_response "#{CMD_MOVE_FORWARD},#{duration.to_s}"
-  end
-
-  def move_backward(duration)
-    send_command_get_response "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
-  end
-
-  def spin_right(duration)
-    send_command_get_response "#{CMD_SPIN_RIGHT},#{duration.to_s}"
-  end
-
-  def spin_left(duration)
-    send_command_get_response "#{CMD_SPIN_LEFT},#{duration.to_s}"
-  end
-
-  def turn_right(duration)
-    send_command_get_response "#{CMD_TURN_RIGHT},#{duration.to_s}"
-  end
-
-  def turn_left(duration)
-    send_command_get_response "#{CMD_TURN_LEFT},#{duration.to_s}"
-  end
-
-  def movef(duration = DEFAULT_MOVE_DURATION)
-    move_forward duration
-  end
-
-  def moveb(duration = DEFAULT_MOVE_DURATION)
-    move_backward duration
-  end
-
-  def spinr(duration = DEFAULT_SPIN_DURATION)
-    spin_right duration
-  end
-
-  def spinl(duration = DEFAULT_SPIN_DURATION)
-    spin_left duration
-  end
-
-  def move_forward!(duration)
-    sendln "#{CMD_MOVE_FORWARD},#{duration.to_s}"
-  end
-
-  def move_backward!(duration)
-    sendln "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
-  end
-
-  def spin_right!(duration)
-    sendln "#{CMD_SPIN_RIGHT},#{duration.to_s}"
-  end
-
-  def spin_left!(duration)
-    sendln "#{CMD_SPIN_LEFT},#{duration.to_s}"
-  end
-
-  def turn_right!(duration)
-    sendln "#{CMD_TURN_RIGHT},#{duration.to_s}"
-  end
-
-  def turn_left!(duration)
-    sendln "#{CMD_TURN_LEFT},#{duration.to_s}"
-  end
-
-  def speed(pwm_value = DEFAULT_SPEED)
-    send_command_get_response "#{CMD_SET_SPEED},#{pwm_value.to_s}"
-  end
-
-  def free_ram
-    send_command_get_response "#{CMD_FREE_RAM}"
-  end
-
-  def blink(r = nil, g = nil, b = nil, duration = DEFAULT_BLINK_DURATION)
-    r ||= rand(100)+1
-    g ||= rand(100)+1
-    b ||= rand(100)+1
-    r = 100 if r > 100
-    g = 100 if g > 100
-    b = 100 if b > 100
-    send_command_get_response "#{CMD_BLINK_LED},#{r.to_s},#{g.to_s},#{b.to_s},#{duration.to_s}"
-  end
-
-  def stop
-    send_command_get_response CMD_STOP
-  end
-
-  def tone(frequency = nil, duration = DEFAULT_TONE_DURATION)
-    frequency ||= rand(4186 - 28) + 28
-    frequency = 4186 if frequency > 4186
-    frequency = 28 if frequency < 28
-    send_command_get_response "#{CMD_TONE},#{frequency.to_s},#{duration.to_s}"
-  end
-
-  def sound(pitch = "?", duration = DEFAULT_TONE_DURATION)
-
-    if pitch.instance_of?(String)
-      pitch = FREQUENCY.keys[rand(FREQUENCY.size)].to_s if pitch == "?"
-      frequency = FREQUENCY[pitch.upcase.to_sym]
-    else
-      frequency = pitch
-    end
-
-    tone frequency, duration if frequency
-    sleep duration.to_f / 1000.0
-  end
-
-  def good
-    freqs = [440,880,1760]
-    duration = 100.0
-    freqs.each do |freq|
-      tone freq, duration
-      sleep duration / 1000.0
-    end
-  end
-
-  def bad
-    duration = 400.0
-    freq = 100
-    tone freq, duration
-    sleep duration / 1000.0
-  end
-
-  def talk(str)
-    morsecoder = Morsecoder.new str
-    morsecoder.each {|frequency, duration| sound(frequency,duration)}
-  end
-
-  def morse_frequency
-    Morsecoder.default_frequency
-  end
-
-  def morse_frequency=(frequency)
-    Morsecoder.default_frequency = frequency
-  end
-
-  def morse_unit
-    Morsecoder.default_unit
-  end
-
-  def morse_unit=(millisec)
-    Morsecoder.default_unit = millisec
-  end
-
-  # Private methods
-  private
-
-  def initialize_serialport(dev)
-    require 'serialport'
-    @sp = SerialPort.new dev, 38400, 8, 1, SerialPort::NONE
-    if is_windows?
-      @sp.read_timeout = READ_TIMEOUT
-      @sp.write_timeout = WRITE_TIMEOUT
-    end
-  end
-
-
-  def send_command_get_response(cmd = CMD_PING)
-    empty_receive_buffer
-    sendln cmd
-    received_line = receiveln
-
-    begin
-      timeout(READ_TIMEOUT/1000) do
-        received_line = receiveln until received_line[0] == cmd[0]
-      end
-    rescue
-      return nil
-    end
-    received_line.chomp.split(",")
-  end
-
-  def sendln str
-    @sp.write str + "\n"
-  end
-
-  def empty_receive_buffer
-    @sp.read_timeout = SHORT_READ_TIMEOUT
-    begin
-      char = @sp.read 1
-    end while char && char.length > 0
-    @sp.read_timeout = READ_TIMEOUT
-  end
-
-  def receiveln
-    if is_windows?
-      start_time = Time.now
-      str = ""
-      while (Time.now - start_time) * 1000.0 < READ_TIMEOUT do
-        char = @sp.read 1
-        if char.length > 0
-          str += char
-          break if char == "\n"
-        end
-      end
-    else
-      str = @sp.gets
-    end
-    str
-  end
-
-  def is_windows?
-    os = RUBY_PLATFORM.split("-")[1]
-    os == 'mswin' or os == 'bccwin' or os == 'mingw' or os == 'mingw32'
-  end
-end
+# mi100.rb
+# Copyright (c) 2014 Masami Yamakawa
+#
+# This software is released under the MIT License.
+# http://opensource.org/lisenses/mit-license.php
+
+require 'mi100/version'
+require 'mi100/morsecoder'
+require 'timeout'
+
+class Mi100
+
+  DEFAULT_RETRIES     = 5
+  READ_TIMEOUT        = 5000
+  WRITE_TIMEOUT       = 5000
+  SHORT_READ_TIMEOUT  = 1
+
+  CMD_PING            = "H"
+  CMD_GET_POWER_LEVEL = "H"
+  CMD_STOP            = "S"
+  CMD_MOVE_FORWARD    = "F"
+  CMD_MOVE_BACKWARD   = "B"
+  CMD_SPIN_RIGHT      = "R"
+  CMD_SPIN_LEFT       = "L"
+  CMD_BLINK_LED       = "D"
+  CMD_TONE            = "T"
+  CMD_GET_LIGHT       = "P"
+  CMD_TURN_RIGHT      = "U"
+  CMD_TURN_LEFT       = "A"
+  CMD_SET_SPEED       = "W"
+  CMD_FREE_RAM        = "M"
+  CMD_TURN_LED_RGB    = "V"
+  CMD_DRIVE           = "Z"
+
+
+  DEFAULT_SPEED           = 1023
+  DEFAULT_MOVE_DURATION   = 300
+  DEFAULT_SPIN_DURATION   = 140
+  DEFAULT_DRIVE_DURATION  = 50
+  DEFAULT_BLINK_DURATION  = 600
+  DEFAULT_TONE_DURATION   = 300
+
+  DEFAULT_MOVE_DIRECTION  = "FORWARD"
+  DEFAULT_SPIN_DIRECTION  = "RIGHT"
+
+  FREQUENCY = { DO:   262,
+                DOS:  277,
+                RE:   294,
+                RES:  311,
+                MI:   330,
+                FA:   349,
+                FAS:  370,
+                SO:   392,
+                SOS:  415,
+                LA:   440,
+                LAS:  466,
+                SI:   494,
+                HDO:  523,
+                HDOS: 554,
+                HRE:  587,
+                HRES: 622,
+                HMI:  659,
+                HFA:  698,
+                HFAS: 740,
+                HSO:  784,
+                HSOS: 831,
+                HLA:  880,
+                HSI:  988,
+              }
+
+
+  def initialize(dev)
+    retries_left = DEFAULT_RETRIES
+    begin
+      initialize_serialport dev
+    rescue Errno::ENOENT
+      puts "Retry Bluetooth connection: #{retries_left.to_s}"
+      retries_left -= 1
+      retry unless retries_left < 0
+      puts "Bluetooth connection failed."
+      raise
+    end
+
+    initialize_robo
+  end
+
+  def close
+    sleep 2
+    @sp.close
+  end
+
+  def ping
+    send_command_get_response CMD_PING
+  end
+
+  def power
+    response = send_command_get_response CMD_GET_POWER_LEVEL
+    voltage = response[1].to_i / 1000.0
+    voltage.round 2
+  end
+
+  def light
+    response = send_command_get_response CMD_GET_LIGHT
+    response[1].to_i
+  end
+
+  def move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION)
+    cmd = direction.upcase == "BACKWARD" ? CMD_MOVE_BACKWARD : CMD_MOVE_FORWARD
+    send_command_get_response "#{cmd},#{duration.to_s}"
+  end
+
+  def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
+    cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
+    send_command_get_response "#{cmd},#{duration.to_s}"
+  end
+
+  def move_forward(duration)
+    send_command_get_response "#{CMD_MOVE_FORWARD},#{duration.to_s}"
+  end
+
+  def move_backward(duration)
+    send_command_get_response "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
+  end
+
+  def spin_right(duration)
+    send_command_get_response "#{CMD_SPIN_RIGHT},#{duration.to_s}"
+  end
+
+  def spin_left(duration)
+    send_command_get_response "#{CMD_SPIN_LEFT},#{duration.to_s}"
+  end
+
+  def turn_right(duration)
+    send_command_get_response "#{CMD_TURN_RIGHT},#{duration.to_s}"
+  end
+
+  def turn_left(duration)
+    send_command_get_response "#{CMD_TURN_LEFT},#{duration.to_s}"
+  end
+
+  def movef(duration = DEFAULT_MOVE_DURATION)
+    move_forward duration
+  end
+
+  def moveb(duration = DEFAULT_MOVE_DURATION)
+    move_backward duration
+  end
+
+  def spinr(duration = DEFAULT_SPIN_DURATION)
+    spin_right duration
+  end
+
+  def spinl(duration = DEFAULT_SPIN_DURATION)
+    spin_left duration
+  end
+
+  def drive(right_speed, left_speed, duration = @drive_duration)
+    send_command_get_response "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
+  end
+
+  def drive_right(turn_speed, speed = @speed, duration = @drive_duration)
+    send_command_get_response "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
+  end
+
+  def drive_left(turn_speed, speed = @speed, duration = @drive_duration)
+    send_command_get_response "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
+  end
+
+  def move_forward!(duration)
+    sendln "#{CMD_MOVE_FORWARD},#{duration.to_s}"
+  end
+
+  def move_backward!(duration)
+    sendln "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
+  end
+
+  def spin_right!(duration)
+    sendln "#{CMD_SPIN_RIGHT},#{duration.to_s}"
+  end
+
+  def spin_left!(duration)
+    sendln "#{CMD_SPIN_LEFT},#{duration.to_s}"
+  end
+
+  def turn_right!(duration)
+    sendln "#{CMD_TURN_RIGHT},#{duration.to_s}"
+  end
+
+  def turn_left!(duration)
+    sendln "#{CMD_TURN_LEFT},#{duration.to_s}"
+  end
+
+  def drive!(right_speed, left_speed, duration = @drive_duration)
+    sendln "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
+  end
+
+  def drive_right!(turn_speed, speed = @speed, duration = @drive_duration)
+    sendln "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
+  end
+
+  def drive_left!(turn_speed, speed = @speed, duration = @drive_duration)
+    sendln "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
+  end
+
+  def speed(pwm_value = DEFAULT_SPEED)
+    @speed = pwm_value
+    send_command_get_response "#{CMD_SET_SPEED},#{pwm_value.to_s}"
+  end
+
+  def drive_duration(duration = DEFAULT_DRIVE_DURATION)
+    @drive_duration = duration
+  end
+
+  def free_ram
+    send_command_get_response "#{CMD_FREE_RAM}"
+  end
+
+  def blink(r = nil, g = nil, b = nil, duration = DEFAULT_BLINK_DURATION)
+    r ||= rand(100)+1
+    g ||= rand(100)+1
+    b ||= rand(100)+1
+    r = 100 if r > 100
+    g = 100 if g > 100
+    b = 100 if b > 100
+    send_command_get_response "#{CMD_BLINK_LED},#{r.to_s},#{g.to_s},#{b.to_s},#{duration.to_s}"
+  end
+
+  def turn_led(r = 0, g = 0, b = 0)
+    send_command_get_response "#{CMD_TURN_LED_RGB},#{r.to_s},#{g.to_s},#{b.to_s}"
+  end
+
+  def led_on
+    turn_led(100,100,100)
+  end
+  
+  def led_off
+    turn_led(0,0,0)
+  end
+  
+  def stop
+    send_command_get_response CMD_STOP
+  end
+
+  def tone(frequency = nil, duration = DEFAULT_TONE_DURATION)
+    frequency ||= rand(4186 - 28) + 28
+    frequency = 4186 if frequency > 4186
+    frequency = 28 if frequency < 28
+    send_command_get_response "#{CMD_TONE},#{frequency.to_s},#{duration.to_s}"
+  end
+
+  def sound(pitch = "?", duration = DEFAULT_TONE_DURATION)
+
+    if pitch.instance_of?(String)
+      pitch = FREQUENCY.keys[rand(FREQUENCY.size)].to_s if pitch == "?"
+      frequency = FREQUENCY[pitch.upcase.to_sym]
+    else
+      frequency = pitch
+    end
+
+    tone frequency, duration if frequency
+    sleep duration.to_f / 1000.0
+  end
+
+  def good
+    freqs = [440,880,1760]
+    duration = 100.0
+    freqs.each do |freq|
+      tone freq, duration
+      sleep duration / 1000.0
+    end
+  end
+
+  def bad
+    duration = 400.0
+    freq = 100
+    tone freq, duration
+    sleep duration / 1000.0
+  end
+
+  def talk(str)
+    morsecoder = Morsecoder.new str
+    morsecoder.each {|frequency, duration| sound(frequency,duration)}
+  end
+
+  def morse_frequency
+    Morsecoder.default_frequency
+  end
+
+  def morse_frequency=(frequency)
+    Morsecoder.default_frequency = frequency
+  end
+
+  def morse_unit
+    Morsecoder.default_unit
+  end
+
+  def morse_unit=(millisec)
+    Morsecoder.default_unit = millisec
+  end
+
+  # Private methods
+  private
+
+  def initialize_serialport(dev)
+    require 'serialport'
+    @sp = SerialPort.new dev, 38400, 8, 1, SerialPort::NONE
+    if is_windows?
+      @sp.read_timeout = READ_TIMEOUT
+      @sp.write_timeout = WRITE_TIMEOUT
+    end
+  end
+
+  def initialize_robo
+    self.speed DEFAULT_SPEED
+    self.drive_duration DEFAULT_DRIVE_DURATION
+    self.turn_led 0,0,0
+  end
+
+  def send_command_get_response(cmd = CMD_PING)
+    empty_receive_buffer
+    sendln cmd
+    received_line = receiveln
+
+    begin
+      timeout(READ_TIMEOUT/1000) do
+        received_line = receiveln until received_line[0] == cmd[0]
+      end
+    rescue
+      return nil
+    end
+    received_line.chomp.split(",")
+  end
+
+  def sendln str
+    @sp.write str + "\n"
+  end
+
+  def empty_receive_buffer
+    @sp.read_timeout = SHORT_READ_TIMEOUT
+    begin
+      char = @sp.read 1
+    end while char && char.length > 0
+    @sp.read_timeout = READ_TIMEOUT
+  end
+
+  def receiveln
+    if is_windows?
+      start_time = Time.now
+      str = ""
+      while (Time.now - start_time) * 1000.0 < READ_TIMEOUT do
+        char = @sp.read 1
+        if char.length > 0
+          str += char
+          break if char == "\n"
+        end
+      end
+    else
+      str = @sp.gets
+    end
+    str
+  end
+
+  def is_windows?
+    os = RUBY_PLATFORM.split("-")[1]
+    os == 'mswin' or os == 'bccwin' or os == 'mingw' or os == 'mingw32'
+  end
+end