mi100 0.3.1 → 0.4.0

data/lib/mi100/version.rb

@@ -1,3 +1,3 @@
 class Mi100
-  VERSION = "0.3.1"
+  VERSION = "0.4.0"
 end

data/lib/mi100.rb

@@ -1,6 +1,6 @@
 # mi100.rb
 # Copyright (c) 2014 Masami Yamakawa
-# 
+#
 # This software is released under the MIT License.
 # http://opensource.org/lisenses/mit-license.php
 
@@ -25,15 +25,20 @@ class Mi100
   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,
@@ -58,7 +63,7 @@ class Mi100
                 HLA:  880,
                 HSI:  988,
               }
-  
+
   def initialize(dev)
     retries_left = DEFAULT_RETRIES
     begin
@@ -70,87 +75,111 @@ class Mi100
       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  
-  
+  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
@@ -164,27 +193,27 @@ class Mi100
   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
@@ -193,38 +222,38 @@ class Mi100
       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
@@ -233,8 +262,8 @@ class Mi100
       @sp.write_timeout = WRITE_TIMEOUT
     end
   end
-  
-  
+
+
   def send_command_get_response(cmd = CMD_PING)
     empty_receive_buffer
     sendln cmd
@@ -249,11 +278,11 @@ class Mi100
     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
@@ -261,7 +290,7 @@ class Mi100
     end while char && char.length > 0
     @sp.read_timeout = READ_TIMEOUT
   end
-  
+
   def receiveln
     if is_windows?
       start_time = Time.now
@@ -282,5 +311,5 @@ class Mi100
   def is_windows?
     os = RUBY_PLATFORM.split("-")[1]
     os == 'mswin' or os == 'bccwin' or os == 'mingw' or os == 'mingw32'
-  end  
+  end
 end

data/spec/mi100_spec.rb

@@ -14,41 +14,41 @@ describe Mi100 do
     mi100 = Mi100.new "COM5"
     expect(mi100).to be_a Mi100
   end
-  
+
   it 'should send "H" on :ping' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_PING,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.ping).to eq(["H",1234])
     expect(mi100).to have_received(:send_command_get_response).with("H")
   end
-  
+
   it 'should send "H" and return rounded power level on :power' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_GET_POWER_LEVEL,1188])
     mi100 = Mi100.new "COM5"
     expect(mi100.power).to eq(1.19)
     expect(mi100).to have_received(:send_command_get_response).with("H")
   end
-  
+
   it 'should send "P" and get light level on :light' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_GET_LIGHT,1188])
     mi100 = Mi100.new "COM5"
     expect(mi100.light).to eq(1188)
     expect(mi100).to have_received(:send_command_get_response).with("P")
   end
-  
+
   it 'should send "F,duration" on :move with "FORWARD"' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_MOVE_FORWARD,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.move "FORWARD").to eq(["F",1234])
     expect(mi100).to have_received(:send_command_get_response).with("F,300")
   end
-  
+
   it 'should send "B,duration" on move "BACKWARD"' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_MOVE_BACKWARD,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.move "BACKWARD").to eq(["B",1234])
     expect(mi100).to have_received(:send_command_get_response).with("B,300")
-  end  
+  end
 
   it 'should send "R,140" on spin "RIGHT"' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SPIN_RIGHT,1234])
@@ -77,34 +77,48 @@ describe Mi100 do
     expect(mi100.move_backward 500).to eq(["B",1234])
     expect(mi100).to have_received(:send_command_get_response).with("B,500")
   end
-  
+
   it 'should send "R,duration" spin_right duration' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SPIN_RIGHT,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.spin_right 500).to eq(["R",1234])
     expect(mi100).to have_received(:send_command_get_response).with("R,500")
   end
-  
+
   it 'should send "L,duration" on spin_left duration' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SPIN_LEFT,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.spin_left 500).to eq(["L",1234])
     expect(mi100).to have_received(:send_command_get_response).with("L,500")
   end
-  
+
+  it 'should send "U,duration" on turn_right duration' do
+    Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TURN_RIGHT,1234])
+    mi100 = Mi100.new "COM5"
+    expect(mi100.turn_right 500).to eq(["U",1234])
+    expect(mi100).to have_received(:send_command_get_response).with("U,500")
+  end
+
+  it 'should send "A,duration" on turn_left duration' do
+    Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TURN_LEFT,1234])
+    mi100 = Mi100.new "COM5"
+    expect(mi100.turn_left 500).to eq(["A",1234])
+    expect(mi100).to have_received(:send_command_get_response).with("A,500")
+  end
+
   it 'should send "F, 300" on movef' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_MOVE_FORWARD,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.movef).to eq(["F",1234])
     expect(mi100).to have_received(:send_command_get_response).with("F,300")
   end
-  
+
   it 'should send "B,300" on moveb' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_MOVE_BACKWARD,1234])
     mi100 = Mi100.new "COM5"
     expect(mi100.moveb).to eq(["B",1234])
     expect(mi100).to have_received(:send_command_get_response).with("B,300")
-  end  
+  end
 
   it 'should send "R,140" spinr' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SPIN_RIGHT,1234])
@@ -126,27 +140,62 @@ describe Mi100 do
     expect(mi100.move_forward! 500).to eq(6)
     expect(mi100).to have_received(:sendln).with("F,500")
   end
-  
+
   it 'should send "B,duration" on move_backward! duration in async' do
     Mi100.any_instance.stub(:sendln => 6)
     mi100 = Mi100.new "COM5"
     expect(mi100.move_backward! 500).to eq(6)
     expect(mi100).to have_received(:sendln).with("B,500")
   end
-  
-   it 'should send "R,duration" on spin_right! duration in async' do
+
+  it 'should send "R,duration" on spin_right! duration in async' do
     Mi100.any_instance.stub(:sendln => 6)
     mi100 = Mi100.new "COM5"
     expect(mi100.spin_right! 500).to eq(6)
     expect(mi100).to have_received(:sendln).with("R,500")
   end
-  
+
   it 'should send "L,duration" on spin_left! duration in async' do
     Mi100.any_instance.stub(:sendln => 6)
     mi100 = Mi100.new "COM5"
     expect(mi100.spin_left! 500).to eq(6)
     expect(mi100).to have_received(:sendln).with("L,500")
-  end 
+  end
+
+  it 'should send "U,duration" on turn_right! duration in async' do
+    Mi100.any_instance.stub(:sendln => 6)
+    mi100 = Mi100.new "COM5"
+    expect(mi100.turn_right! 500).to eq(6)
+    expect(mi100).to have_received(:sendln).with("U,500")
+  end
+
+  it 'should send "A,duration" on turn_left! duration in async' do
+    Mi100.any_instance.stub(:sendln => 6)
+    mi100 = Mi100.new "COM5"
+    expect(mi100.turn_left! 500).to eq(6)
+    expect(mi100).to have_received(:sendln).with("A,500")
+  end
+
+  it 'should send "W,pwm_value" on speed pwm_value' do
+    Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SET_SPEED,1234])
+    mi100 = Mi100.new "COM5"
+    expect(mi100.speed 500).to eq(["W",1234])
+    expect(mi100).to have_received(:send_command_get_response).with("W,500")
+  end
+
+  it 'should reset default speed' do
+    Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_SET_SPEED,1234])
+    mi100 = Mi100.new "COM5"
+    expect(mi100.speed).to eq(["W",1234])
+    expect(mi100).to have_received(:send_command_get_response).with("W,1023")
+  end
+
+  it 'should send "M" and get free ram memory area on :free_ram' do
+    Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_FREE_RAM,1234])
+    mi100 = Mi100.new "COM5"
+    expect(mi100.free_ram).to eq(["M",1234])
+    expect(mi100).to have_received(:send_command_get_response).with("M")
+  end
 
   it 'should send "D,100, 50, 50,duration on blink 100,50,50,duration' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_BLINK_LED,1234])
@@ -168,72 +217,72 @@ describe Mi100 do
     expect(mi100.tone).to eq(["T",1234])
     expect(mi100).to have_received(:send_command_get_response).with(/T,\d{2,4},300/)
   end
-  
+
   it 'should limit minimum tone frequency to 28 on tome' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TONE,1234])
     mi100 = Mi100.new "COM5"
     mi100.tone 20, 500
     expect(mi100).to have_received(:send_command_get_response).with("T,28,500")
   end
-  
+
   it 'should send "T,440,1000" on sound "la", 1000' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TONE,1234])
     mi100 = Mi100.new "COM5"
     mi100.sound "la",1000
     expect(mi100).to have_received(:send_command_get_response).with("T,440,1000")
-  end  
+  end
 
   it 'sound should not call tone with false frequency' do
     mi100 = Mi100.new "COM5"
     mi100.stub(:tone)
     mi100.sound false, 300
     expect(mi100).not_to have_received(:tone)
-  end  
+  end
 
   it 'should send three good tones on good' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TONE,1234])
     mi100 = Mi100.new "COM5"
     mi100.good
     expect(mi100).to have_received(:send_command_get_response).exactly(3).times
-  end   
-  
+  end
+
   it 'should send one bad tone on bad' do
     Mi100.any_instance.stub(:send_command_get_response => [Mi100::CMD_TONE,1234])
     mi100 = Mi100.new "COM5"
     mi100.bad
     expect(mi100).to have_received(:send_command_get_response).once
-  end  
-  
+  end
+
   it 'should talk morse code' do
     mi100 = Mi100.new "COM5"
     mi100.stub(:tone)
     mi100.talk "sos"
     expect(mi100).to have_received(:tone).exactly(6).times.with(4000,50)
     expect(mi100).to have_received(:tone).exactly(3).times.with(4000,150)
-  end  
-  
+  end
+
   it 'should access to morse_frequency' do
     mi100 = Mi100.new "COM5"
     expect(mi100.morse_frequency).to eq(4000)
     expect(mi100.morse_frequency = 440).to eq(440)
     expect(mi100.morse_frequency).to eq(440)
-  end    
-  
+  end
+
   it 'should access to morse_unit' do
     mi100 = Mi100.new "COM5"
     expect(mi100.morse_unit).to eq(50)
     expect(mi100.morse_unit = 100).to eq(100)
     expect(mi100.morse_unit).to eq(100)
   end
-  
+
   it 'should talk with new default frequency and unit' do
     mi100 = Mi100.new "COM5"
     mi100.stub(:tone)
     mi100.talk "sos"
     expect(mi100).to have_received(:tone).exactly(6).times.with(440,100)
     expect(mi100).to have_received(:tone).exactly(3).times.with(440,300)
-  end  
-  
+  end
+
   it 'should reset default frequency and unit' do
     Mi100::Morsecoder.reset
     expect(Mi100::Morsecoder.default_frequency).to eq(4000)
@@ -242,11 +291,11 @@ describe Mi100 do
     expect(mi100.morse_frequency).to eq(4000)
     expect(mi100.morse_unit).to eq(50)
   end
-  
+
   it 'should provide Morsecode.to_morse_from class method converting the string to the morse code array' do
     morsecode = Mi100::Morsecoder.to_morse_from "sos"
     expect(morsecode.size).to eq(21)
     expect(morsecode[0]).to eq ({:frequency=>4000, :duration=>50})
-  end  
-  
+  end
+
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: mi100
 version: !ruby/object:Gem::Version
-  version: 0.3.1
+  version: 0.4.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-03-29 00:00:00.000000000Z
+date: 2014-10-15 00:00:00.000000000Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
-  requirement: &16171272 !ruby/object:Gem::Requirement
+  requirement: &15936960 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: '1.3'
   type: :development
   prerelease: false
-  version_requirements: *16171272
+  version_requirements: *15936960
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &16171020 !ruby/object:Gem::Requirement
+  requirement: &15936696 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -32,10 +32,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *16171020
+  version_requirements: *15936696
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &16170744 !ruby/object:Gem::Requirement
+  requirement: &15936420 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -43,7 +43,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *16170744
+  version_requirements: *15936420
 description: A ruby gem for controlling MI100 of monoxit through bluetooth virtual
   serial port.
 email: