pan_tilt 0.0.2 → 0.0.3

data/README.md

@@ -9,7 +9,7 @@ Pan and tilt your Arduino connected bracket
 * Pan/Tilt Bracket from [sparkfun](https://www.sparkfun.com/products/10335)
 * 2x Small Servos
 * Breadboard
-# Pinned wires
+* Pinned wires
 
 ## Pan and Tilt bracket
 To create the bracket you can order the parts from [sparkfun](https://www.sparkfun.com/products/10335) and follow their [assembly instructions.](https://www.sparkfun.com/datasheets/Robotics/Other/sensor%20pan%20tilt%20manual.jpg)

data/lib/pan_tilt/command_line.rb

@@ -1,12 +1,10 @@
 module PanTilt
   class CommandLine
     def initialize(debug=false)
-      @debug      = debug
-      @board      = Dino::Board.new(Dino::TxRx::Serial.new)
-      @rotor      = PanTilt::Rotor.new @board, @debug
-      @pan_angle  = PanTilt::MIN_PAN_ANGLE
-      @tilt_angle = PanTilt::MIN_TILT_ANGLE
-      @led        = Dino::Components::Led.new(pin: PanTilt::LIVE_LED, board: @board)
+      @debug = debug
+      @board = Dino::Board.new(Dino::TxRx::Serial.new)
+      @rotor = PanTilt::Rotor.new @board, @debug
+      @led   = Dino::Components::Led.new(pin: PanTilt::LIVE_LED, board: @board)
     end
 
     def run
@@ -19,24 +17,14 @@ module PanTilt
           @led.send :off
           break
         when PanTilt::LEFT_ARROW
-          if @pan_angle > PanTilt::MIN_PAN_ANGLE
-            @pan_angle = @pan_angle - PanTilt::INCREMENT
-          end
+          @rotor.rotate_by (- PanTilt::INCREMENT), 0
         when PanTilt::RIGHT_ARROW
-          if @pan_angle < PanTilt::MAX_PAN_ANGLE
-            @pan_angle = @pan_angle + PanTilt::INCREMENT
-          end
+          @rotor.rotate_by PanTilt::INCREMENT, 0
         when PanTilt::DOWN_ARROW
-          if @tilt_angle > PanTilt::MIN_TILT_ANGLE
-            @tilt_angle = @tilt_angle - PanTilt::INCREMENT
-          end
+          @rotor.rotate_by 0, (- PanTilt::INCREMENT)
         when PanTilt::UP_ARROW
-          if @tilt_angle < PanTilt::MAX_TILT_ANGLE
-            @tilt_angle = @tilt_angle + PanTilt::INCREMENT
-          end
+          @rotor.rotate_by 0, PanTilt::INCREMENT
         end
-
-        @rotor.rotate @pan_angle, @tilt_angle
       end
     end
 

data/lib/pan_tilt/rotor.rb

@@ -6,10 +6,42 @@ module PanTilt
       @debug      = debug
 
       @board      = board
-      @tilt_servo = Dino::Components::Servo.new(pin: PanTilt::TILT_PIN,  board: @board)
+      @tilt_servo = Dino::Components::Servo.new(pin: PanTilt::TILT_PIN, board: @board)
       @pan_servo  = Dino::Components::Servo.new(pin: PanTilt::PAN_PIN, board: @board)
     end
 
+    def rotate_by(pan_offset, tilt_offset)
+      rotate new_pan_position(pan_offset), new_tilt_position(tilt_offset)
+    end
+
+    private
+
+    def new_pan_position(offset)
+      current_position = @pan_servo.position
+      new_position     = @pan_servo.position + offset
+
+      if new_position.between? PanTilt::MIN_PAN_ANGLE, PanTilt::MAX_PAN_ANGLE
+        return new_position
+      elsif PanTilt::MIN_PAN_ANGLE.between? new_position, PanTilt::MAX_PAN_ANGLE
+        PanTilt::MIN_PAN_ANGLE
+      elsif PanTilt::MAX_PAN_ANGLE.between? PanTilt::MIN_PAN_ANGLE, new_position
+        PanTilt::MAX_PAN_ANGLE
+      end
+    end
+
+    def new_tilt_position(offset)
+      current_position = @tilt_servo.position
+      new_position     = @tilt_servo.position + offset
+
+      if new_position.between? PanTilt::MIN_TILT_ANGLE, PanTilt::MAX_TILT_ANGLE
+        return new_position
+      elsif PanTilt::MIN_TILT_ANGLE.between? new_position, PanTilt::MAX_TILT_ANGLE
+        PanTilt::MIN_TILT_ANGLE
+      elsif PanTilt::MAX_TILT_ANGLE.between? PanTilt::MIN_TILT_ANGLE, new_position
+        PanTilt::MAX_TILT_ANGLE
+      end
+    end
+
     def rotate(pan_angle, tilt_angle)
       pan_servo.position = pan_angle
       tilt_servo.position = tilt_angle
@@ -17,8 +49,6 @@ module PanTilt
       print_debug "p: #{pan_angle}, t: #{tilt_angle}"
     end
 
-    private
-
     def print_debug(string)
       puts string if @debug
     end

data/lib/pan_tilt/version.rb

@@ -1,3 +1,3 @@
 module PanTilt
-  VERSION = "0.0.2"
+  VERSION = "0.0.3"
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: pan_tilt
 version: !ruby/object:Gem::Version
-  version: 0.0.2
+  version: 0.0.3
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-07-22 00:00:00.000000000 Z
+date: 2013-07-23 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: dino