pan_tilt 0.0.1

data/.gitignore

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+*.gem
+*.rbc
+.bundle
+.config
+.yardoc
+Gemfile.lock
+InstalledFiles
+_yardoc
+coverage
+doc/
+lib/bundler/man
+pkg
+rdoc
+spec/reports
+test/tmp
+test/version_tmp
+tmp

data/.ruby-version

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+1.9.3-p392

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in fuci.gemspec
+gemspec

data/LICENSE.txt

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+Copyright (c) 2013 Dave Jachimiak
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/README.md

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+# Pan and Tilt
+
+Pan and tilt your Arduino connected servos

data/bin/pan_tilt

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+#!/usr/bin/env ruby
+require 'pan_tilt'
+
+PanTilt.run

data/lib/du/Dino.cpp

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+/*
+  Library for dino ruby gem.
+*/
+
+#include "Arduino.h"
+#include "Dino.h"
+
+Dino::Dino(){
+  reset();
+}
+
+void Dino::parse(char c) {
+  if (c == '!') index = 0;        // Reset request
+  else if (c == '.') process();   // End request and process
+  else request[index++] = c;      // Append to request
+}
+
+void Dino::process() {
+  response[0] = '\0';
+
+  // Parse the request.
+  strncpy(cmdStr, request, 2);      cmdStr[2] =  '\0';
+  strncpy(pinStr, request + 2, 2);  pinStr[2] =  '\0';
+  strncpy(valStr, request + 4, 3);  valStr[3] =  '\0';
+  cmd = atoi(cmdStr);
+  pin = atoi(pinStr);
+  val = atoi(valStr);
+
+  #ifdef debug
+   Serial.print("Received request - "); Serial.println(request);
+   Serial.print("Command - ");          Serial.println(cmdStr);
+   Serial.print("Pin - ");              Serial.println(pinStr);
+   Serial.print("Value - ");            Serial.println(valStr);
+  #endif
+
+  // Call the command.
+  switch(cmd) {
+    case 0:  setMode             ();  break;
+    case 1:  dWrite              ();  break;
+    case 2:  dRead               ();  break;
+    case 3:  aWrite              ();  break;
+    case 4:  aRead               ();  break;
+    case 5:  addDigitalListener  ();  break;
+    case 6:  addAnalogListener   ();  break;
+    case 7:  removeListener      ();  break;
+    case 8:  servoToggle         ();  break;
+    case 9:  servoWrite          ();  break;
+    case 90: reset               ();  break;
+    case 97: setAnalogDivider    ();  break;
+    case 98: setHeartRate        ();  break;
+    default:                          break;
+  }
+  
+  // Write the response.
+  if (response[0] != '\0') writeResponse();
+  
+  #ifdef debug
+   Serial.print("Responded with - "); Serial.println(response);
+   Serial.println();
+  #endif
+}
+
+
+
+// WRITE CALLBACK
+void Dino::setupWrite(void (*writeCallback)(char *str)) {
+  _writeCallback = writeCallback;
+}
+void Dino::writeResponse() {
+  _writeCallback(response);
+}
+
+
+
+// LISTNENERS
+void Dino::updateListeners() {
+  if (timeSince(lastUpdate) > heartRate || timeSince(lastUpdate) < 0) {
+    lastUpdate = micros();
+    loopCount++;
+    updateDigitalListeners();
+    if (loopCount % analogDivider == 0) updateAnalogListeners();
+  }
+}
+void Dino::updateDigitalListeners() {
+  for (int i = 0; i < 22; i++) {
+    if (digitalListeners[i]) {
+      pin = i;
+      dRead();
+      if (rval != digitalListenerValues[i]) {
+        digitalListenerValues[i] = rval;
+        writeResponse();
+      } 
+    }
+  }
+}
+void Dino::updateAnalogListeners() {
+  for (int i = 0; i < 22; i++) {
+    if (analogListeners[i]) {
+      pin = i;
+      aRead();
+      writeResponse();
+    }
+  }
+}
+long Dino::timeSince(long event) {
+ long time = micros() - event;
+ return time;
+}
+
+
+
+// API FUNCTIONS
+// CMD = 00 // Pin Mode
+void Dino::setMode() {
+  if (val == 0) {
+    removeListener();
+    pinMode(pin, OUTPUT);
+    #ifdef debug
+      Serial.print("Set pin "); Serial.print(pin); Serial.print(" to "); Serial.println("OUTPUT mode");
+    #endif
+  }
+  else {
+    pinMode(pin, INPUT);
+    #ifdef debug
+      Serial.print("Set pin "); Serial.print(pin); Serial.print(" to "); Serial.println("INPTUT mode");
+    #endif
+  }
+}
+
+// CMD = 01 // Digital Write
+void Dino::dWrite() {
+  if (val == 0) {
+    digitalWrite(pin, LOW);
+    #ifdef debug
+      Serial.print("Digital write "); Serial.print(LOW); Serial.print(" to pin "); Serial.println(pin);
+    #endif
+  }
+  else {
+    digitalWrite(pin, HIGH);
+    #ifdef debug
+      Serial.print("Digital write "); Serial.print(HIGH); Serial.print(" to pin "); Serial.println(pin);
+    #endif
+  }
+}
+
+// CMD = 02 // Digital Read
+void Dino::dRead() { 
+  rval = digitalRead(pin);
+  sprintf(response, "%02d:%02d", pin, rval);
+}
+
+// CMD = 03 // Analog (PWM) Write
+void Dino::aWrite() {
+  analogWrite(pin,val);
+  #ifdef debug
+    Serial.print("Analog write "); Serial.print(val); Serial.print(" to pin "); Serial.println(pin);
+  #endif
+}
+
+// CMD = 04 // Analog Read
+void Dino::aRead() {
+  rval = analogRead(pin);
+  sprintf(response, "%02d:%02d", pin, rval);
+}
+
+// CMD = 05
+// Listen for a digital signal on any pin.
+void Dino::addDigitalListener() {
+  removeListener();
+  digitalListeners[pin] = true;
+  digitalListenerValues[pin] = 2;
+  #ifdef debug
+    Serial.print("Added digital listener on pin "); Serial.println(pin);
+  #endif
+}
+
+// CMD = 06
+// Listen for an analog signal on analog pins only.
+void Dino::addAnalogListener() {
+  removeListener();
+  analogListeners[pin] = true;
+  #ifdef debug
+    Serial.print("Added analog listener on pin "); Serial.println(pin);
+  #endif
+}
+
+// CMD = 07
+// Remove analog and digital listeners from any pin.
+void Dino::removeListener() {
+  analogListeners[pin] = false;
+  digitalListeners[pin] = false;
+  #ifdef debug
+    Serial.print("Removed listeners on pin "); Serial.println(pin);
+  #endif
+}
+
+// CMD = 08
+// Attach the servo object to pin or detach it.
+void Dino::servoToggle() {
+  if (val == 0) {
+    #ifdef debug
+      Serial.print("Detaching servo"); Serial.print(" on pin "); Serial.println(pin);
+    #endif
+    servos[pin - SERVO_OFFSET].detach();
+  }
+  else {
+    #ifdef debug
+      Serial.print("Attaching servo"); Serial.print(" on pin "); Serial.println(pin);
+    #endif
+    servos[pin - SERVO_OFFSET].attach(pin);
+  }
+}
+
+// CMD = 09
+// Write a value to the servo object.
+void Dino::servoWrite() {
+  #ifdef debug
+    Serial.print("Servo write "); Serial.print(val); Serial.print(" to pin "); Serial.println(pin);
+  #endif
+  servos[pin - SERVO_OFFSET].write(val);
+}
+
+// CMD = 90
+void Dino::reset() {
+  heartRate = 4000; // Default heartRate is ~4ms.
+  loopCount = 0;
+  analogDivider = 4; // Update analog listeners every ~16ms.
+  for (int i = 0; i < 22; i++) digitalListeners[i] = false;
+  for (int i = 0; i < 22; i++) digitalListenerValues[i] = 2;
+  for (int i = 0; i < 22; i++)  analogListeners[i] = false;
+  lastUpdate = micros();
+  index = 0;
+  #ifdef debug
+    Serial.println("Reset the board to defaults.  pin ");
+  #endif
+  sprintf(response, "ACK:%02d", A0);
+}
+
+// CMD = 97
+// Set the analog divider. Powers of 2 up to 128 are valid.
+void Dino::setAnalogDivider() {
+  analogDivider = val;
+  #ifdef debug
+    Serial.print("Analog divider set to "); Serial.println(analogDivider);
+  #endif
+}
+
+// CMD = 98
+// Set the heart rate in milliseconds. Store it in microseconds.
+void Dino::setHeartRate() {
+  int rate = val;
+  heartRate = (rate * 1000);
+  #ifdef debug
+    Serial.print("Heart rate set to "); Serial.print(heartRate); Serial.println(" microseconds");
+  #endif
+}
+

data/lib/du/Dino.h

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+/*
+  Library for dino ruby gem.
+*/
+
+#ifndef Dino_h
+#define Dino_h
+
+#include "Arduino.h"
+#include <Servo.h>
+
+// Allocate listener storage based on what board we're running.
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#  define PIN_COUNT 70
+#  define SERVO_OFFSET 22
+#else
+#  define PIN_COUNT 22
+#  define SERVO_OFFSET 2
+#endif
+
+// Uncomment this line to enable debugging mode.
+// #define debug true
+
+class Dino {
+  public:
+    Dino();
+    void setupWrite(void (*writeCallback)(char *str));
+    void parse(char c);
+    void process();
+    void updateListeners();
+    
+  private:
+    // Manage heartbeat and listeners.
+    long heartRate;
+    long lastUpdate;
+    unsigned int loopCount;
+    unsigned int analogDivider;
+    
+    // Storage for enough analog and digital listeners for UNO or Nano board.
+    // Correspond to raw pin number by array index, and store boolean. false == disabled.
+    boolean analogListeners[PIN_COUNT];
+    boolean digitalListeners[PIN_COUNT];
+    
+    // Keep track of the last read values for digital listeners. Only write responses when changed.
+    byte digitalListenerValues[PIN_COUNT];
+    
+    // Request storage.
+    char request[8];
+    int index;
+    char cmdStr[3];
+    byte cmd;
+    char pinStr[3];
+    byte pin;
+    char valStr[4];
+    int val;
+    
+    // Value and response storage.
+    int rval;
+    char response[8];
+    void (*_writeCallback)(char *str);
+    void writeResponse();
+
+    Servo servos[12];
+
+    // API-accessible functions.
+    void setMode               ();
+    void dWrite                (); 
+    void dRead                 ();
+    void aWrite                ();
+    void aRead                 ();
+    void addDigitalListener    ();
+    void addAnalogListener     ();
+    void removeListener        ();
+    void servoToggle           ();
+    void servoWrite            ();
+    void reset                 ();
+    void setAnalogDivider      ();
+    void setHeartRate          ();
+
+    // Internal functions.
+    long timeSince              (long event);
+    void updateDigitalListeners ();
+    void updateAnalogListeners  ();
+};
+
+#endif

data/lib/du/du.ino

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+#include "Dino.h"
+#include <Servo.h>
+Dino dino;
+
+// Dino.h doesn't handle TXRX. Setup a function to tell it to write to Serial.
+void writeResponse(char *response) { Serial.print(response); Serial.print("\n"); }
+void (*writeCallback)(char *str) = writeResponse;
+
+void setup() {
+  Serial.begin(115200);
+  dino.setupWrite(writeCallback);
+}
+
+void loop() {
+  while(Serial.available() > 0) dino.parse(Serial.read());
+  dino.updateListeners();
+  Serial.flush();
+}
+

data/lib/pan_tilt/version.rb

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+module PanTilt
+  VERSION = "0.0.1"
+end

data/lib/pan_tilt.rb

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+require "pan_tilt/version"
+
+require 'bundler/setup'
+require 'dino'
+require 'io/console'
+
+module PanTilt
+  ESCAPE         = 'e'
+  LEFT_ARROW     = 'h'
+  RIGHT_ARROW    = 'l'
+  UP_ARROW       = 'k'
+  DOWN_ARROW     = 'j'
+  MAX_TILT_ANGLE = 135
+  MAX_PAN_ANGLE  = 180
+  MIN_TILT_ANGLE = 15
+  MIN_PAN_ANGLE  = 0
+  INCREMENT      = 5
+
+  board      = Dino::Board.new(Dino::TxRx::Serial.new)
+  tilt_servo = Dino::Components::Servo.new(pin: 9, board: board)
+  pan_servo  = Dino::Components::Servo.new(pin: 11, board: board)
+
+  pan_angle  = MIN_PAN_ANGLE
+  tilt_angle = MIN_TILT_ANGLE
+
+  def self.run
+    while key = STDIN.getch
+      case key
+      when ESCAPE
+        break
+      when LEFT_ARROW
+        if pan_angle > MIN_PAN_ANGLE
+          pan_angle = pan_angle - INCREMENT
+          pan_servo.position = pan_angle
+        end
+      when RIGHT_ARROW
+        if pan_angle < MAX_PAN_ANGLE
+          pan_angle = pan_angle + INCREMENT
+          pan_servo.position = pan_angle
+        end
+      when DOWN_ARROW
+        if tilt_angle > MIN_TILT_ANGLE
+          tilt_angle = tilt_angle - INCREMENT
+          tilt_servo.position = tilt_angle
+        end
+      when UP_ARROW
+        if tilt_angle < MAX_TILT_ANGLE
+          tilt_angle = tilt_angle + INCREMENT
+          tilt_servo.position = tilt_angle
+        end
+      end
+      puts "p: #{pan_angle}, t: #{tilt_angle}"
+    end
+  end
+end

data/pan_tilt.gemspec

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+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'pan_tilt/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = "pan_tilt"
+  spec.version       = PanTilt::VERSION
+  spec.authors       = ["Will Mernagh"]
+  spec.email         = ["wmernagh@gmail.com"]
+  spec.description   = %q{Pan and Tilt Arduino connected Servos}
+  spec.summary       = %q{TBA}
+  spec.homepage      = "https://github.com/wmernagh/pan_tilt"
+  spec.license       = "MIT"
+
+  spec.files         = `git ls-files`.split("\n")
+  spec.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")
+  spec.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
+  spec.require_paths = ["lib"]
+
+  spec.add_dependency "dino"
+  spec.add_development_dependency "bundler", "~> 1.3"
+  spec.add_development_dependency "rake"
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: pan_tilt
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+  prerelease: 
+platform: ruby
+authors:
+- Will Mernagh
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-07-22 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: dino
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+description: Pan and Tilt Arduino connected Servos
+email:
+- wmernagh@gmail.com
+executables:
+- pan_tilt
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .ruby-version
+- Gemfile
+- LICENSE.txt
+- README.md
+- bin/pan_tilt
+- lib/du/Dino.cpp
+- lib/du/Dino.h
+- lib/du/du.ino
+- lib/pan_tilt.rb
+- lib/pan_tilt/version.rb
+- pan_tilt.gemspec
+homepage: https://github.com/wmernagh/pan_tilt
+licenses:
+- MIT
+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: []
+rubyforge_project: 
+rubygems_version: 1.8.23
+signing_key: 
+specification_version: 3
+summary: TBA
+test_files: []