rapiro_wrapper 0.1.0

data/lib/rapiro_wrapper/commander.rb

@@ -0,0 +1,28 @@
+require 'serialport'
+
+module RapiroWrapper
+  # Commander class for RAPIRO
+  class Commander
+    def initialize(device = '/dev/ttyAMA0')
+      @serial = SerialPort.new(device, 57_600)
+    end
+
+    def execute!(commands, duration = 10)
+      write(sequences(commands, duration))
+    rescue
+      write('#M0')
+    end
+
+    def sequences(commands, duration = 10)
+      RapiroWrapper::Command.new(commands).to_sequence(duration)
+    end
+
+    def self.dryrun(commands, duration = 10)
+      RapiroWrapper::Command.new(commands).to_sequence(duration)
+    end
+
+    def write(sequences)
+      @serial.write(sequences)
+    end
+  end
+end

data/lib/rapiro_wrapper/led.rb

@@ -0,0 +1,4 @@
+module RapiroWrapper
+  class Led
+  end
+end

data/lib/rapiro_wrapper/led/eyes.rb

@@ -0,0 +1,23 @@
+module RapiroWrapper
+  # Eyes class for RAPIRO
+  class Eyes < Led
+    def initialize(param = nil)
+      if param.nil?
+        @value = '#000080'
+      elsif param =~ /^#([0-9a-fA-F]{2}){3}$/
+        @value = param
+      elsif param.instance_of?(Hash) && param.key?(:red) && param.key?(:green) && param.key?(:blue)
+        @value = format('#%02x%02x%02x', *param.values_at(:red, :green, :blue))
+      else
+        fail ArgumentError
+      end
+    end
+
+    def to_code
+      vary = @value.match(/^#([0-9a-fA-F]{2})([0-9a-fA-F]{2})([0-9a-fA-F]{2})$/)
+                   .to_a
+      vary.shift
+      format('R%03dG%03dB%03d', *vary.map { |v| Integer("0x#{v}") })
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor.rb

@@ -0,0 +1,27 @@
+module RapiroWrapper
+  # SurvoMotor class for RAPIRO
+  class ServoMotor
+    def initialize
+      fail NotImplementedError
+    end
+
+    def to_code
+      format('S%02dA%03d', self.class.const_get(:NO), @value)
+    end
+
+    def self.code(options = {})
+      new(options).to_code
+    end
+
+    def self.find_servos
+      subclasses = []
+      ObjectSpace.each_object(singleton_class) do |k|
+        subclasses << k if k.superclass == self
+      end
+      subclasses.sort! do |a, b|
+        a.const_get(:NO) <=> b.const_get(:NO)
+      end
+      subclasses
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/head.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # Head class for RAPIRO
+  class Head < ServoMotor
+    NO = 0
+    DEFAULT = 90
+    MIN = 0
+    MAX = 180
+
+    def initialize(left: nil, right: nil)
+      fail ArgumentError if left && right
+      if left
+        @value = DEFAULT + left
+      elsif right
+        @value = DEFAULT - right
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/left_foot_pitch.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # LeftFootPitch class for RAPIRO
+  class LeftFootPitch < ServoMotor
+    NO = 11
+    DEFAULT = 90
+    MIN = 70
+    MAX = 110
+
+    def initialize(close: nil, open: nil)
+      fail ArgumentError if open && close
+      if close
+        @value = MAX - close
+      elsif open
+        @value = MIN + open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/left_foot_yaw.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # LeftFootYaw class for RAPIRO
+  class LeftFootYaw < ServoMotor
+    NO = 10
+    DEFAULT = 90
+    MIN = 50
+    MAX = 110
+
+    def initialize(close: nil, open: nil)
+      fail ArgumentError if open && close
+      if close
+        @value = MAX - close
+      elsif open
+        @value = MIN + open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/left_hand_grip.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # LeftHandGrip for RAPIRO
+  class LeftHandGrip < ServoMotor
+    NO = 7
+    DEFAULT = 90
+    MIN = 60
+    MAX = 110
+
+    def initialize(hold: nil, open: nil)
+      fail ArgumentError if open && hold
+      if hold
+        @value = MAX - hold
+      elsif open
+        @value = MIN + open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/left_sholder_pitch.rb

@@ -0,0 +1,18 @@
+module RapiroWrapper
+  # LeftSholderPitch class for RAPIRO
+  class LeftSholderPitch < ServoMotor
+    NO = 6
+    DEFAULT = 50
+    MIN = 50
+    MAX = 140
+
+    def initialize(up: nil)
+      if up
+        @value = MIN + up
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/left_sholder_roll.rb

@@ -0,0 +1,18 @@
+module RapiroWrapper
+  # LeftSholderRoll for RAPIRO
+  class LeftSholderRoll < ServoMotor
+    NO = 5
+    DEFAULT = 180
+    MIN = 0
+    MAX = 180
+
+    def initialize(up: nil)
+      if up
+        @value = MAX - up
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/right_foot_pitch.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # RightFootPitch class for RAPIRO
+  class RightFootPitch < ServoMotor
+    NO = 9
+    DEFAULT = 90
+    MIN = 70
+    MAX = 110
+
+    def initialize(close: nil, open: nil)
+      fail ArgumentError if open && close
+      if close
+        @value = MIN + close
+      elsif open
+        @value = MAX - open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/right_foot_yaw.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # RightFootYaw class for RAPIRO
+  class RightFootYaw < ServoMotor
+    NO = 8
+    DEFAULT = 90
+    MIN = 70
+    MAX = 130
+
+    def initialize(close: nil, open: nil)
+      fail ArgumentError if open && close
+      if close
+        @value = MIN + close
+      elsif open
+        @value = MAX - open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/right_hand_grip.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # RightHandGrip class for RAPIRO
+  class RightHandGrip < ServoMotor
+    NO = 4
+    DEFAULT = 90
+    MIN = 60
+    MAX = 110
+
+    def initialize(hold: nil, open: nil)
+      fail ArgumentError if open && hold
+      if hold
+        @value = MIN + hold
+      elsif open
+        @value = MAX - open
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/right_sholder_pitch.rb

@@ -0,0 +1,18 @@
+module RapiroWrapper
+  # RightSholderPitch class for RAPIRO
+  class RightSholderPitch < ServoMotor
+    NO = 3
+    DEFAULT = 130
+    MIN = 40
+    MAX = 130
+
+    def initialize(up: nil)
+      if up
+        @value = MAX - up
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/right_sholder_roll.rb

@@ -0,0 +1,14 @@
+module RapiroWrapper
+  # RightSholderRoll class for RAPIRO
+  class RightSholderRoll < ServoMotor
+    NO = 2
+    DEFAULT = 0
+    MIN = 0
+    MAX = 180
+
+    def initialize(up: DEFAULT)
+      @value = up
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/servo_motor/waist.rb

@@ -0,0 +1,21 @@
+module RapiroWrapper
+  # Waist class for RAPIRO
+  class Waist < ServoMotor
+    NO = 1
+    DEFAULT = 90
+    MIN = 0
+    MAX = 180
+
+    def initialize(left: nil, right: nil)
+      fail ArgumentError if left && right
+      if left
+        @value = DEFAULT + left
+      elsif right
+        @value = DEFAULT - right
+      else
+        @value = DEFAULT
+      end
+      fail ArgumentError unless @value.between?(MIN, MAX)
+    end
+  end
+end

data/lib/rapiro_wrapper/version.rb

@@ -0,0 +1,4 @@
+# Wrapper module for Rapiro
+module RapiroWrapper
+  VERSION = '0.1.0'
+end

data/rapiro_wrapper.gemspec

@@ -0,0 +1,27 @@
+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'rapiro_wrapper/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = 'rapiro_wrapper'
+  spec.version       = RapiroWrapper::VERSION
+  spec.authors       = ['Takahiro HAMAGUCHI']
+  spec.email         = ['tk.hamaguchi@gmail.com']
+  spec.summary       = 'A gem providing access to Rapiro with SerialPort'
+  spec.description   = 'A gem providing access to Rapiro with SerialPort.'
+  spec.homepage      = 'https://github.com/tk-hamaguchi/rapiro_wrapper.git'
+  spec.license       = 'MIT'
+
+  spec.files         = `git ls-files -z`.split("\x0")
+  spec.executables   = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
+  spec.test_files    = spec.files.grep(%r{^(test|spec|features)/})
+  spec.require_paths = ['lib']
+
+  spec.add_development_dependency 'bundler', '~> 1.7'
+  spec.add_development_dependency 'rake', '~> 10.0'
+  spec.add_runtime_dependency 'serialport', '~> 1.3'
+  spec.add_development_dependency 'rspec', '~> 3.1'
+  spec.add_development_dependency 'simplecov', '~> 0.9'
+  spec.add_development_dependency 'rubocop', '~> 0.29.0'
+end

data/spec/integration/base_spec.rb

@@ -0,0 +1,577 @@
+require 'spec_helper'
+
+RSpec.describe 'RAPIRO' do
+  let(:serial) { double }
+
+  before do
+    allow(SerialPort).to receive(:new) { serial }
+    allow(serial).to receive(:write)
+  end
+
+  it 'decide on a pose' do
+    rapiro = RapiroWrapper::Body.new
+
+    commander = rapiro.instance_variable_get(:@commander)
+    expect(commander).to be_instance_of RapiroWrapper::Commander
+
+    serial = commander.instance_variable_get(:@serial)
+    expect(serial).to eq serial
+
+    expect(rapiro).to respond_to :head=
+    expect(rapiro).to respond_to :head
+    expect(rapiro).to respond_to :waist=
+    expect(rapiro).to respond_to :waist
+    expect(rapiro).to respond_to :right_sholder_roll=
+    expect(rapiro).to respond_to :right_sholder_roll
+    expect(rapiro).to respond_to :right_sholder_pitch=
+    expect(rapiro).to respond_to :right_sholder_pitch
+    expect(rapiro).to respond_to :right_hand_grip=
+    expect(rapiro).to respond_to :right_hand_grip
+    expect(rapiro).to respond_to :left_sholder_roll=
+    expect(rapiro).to respond_to :left_sholder_roll
+    expect(rapiro).to respond_to :left_sholder_pitch=
+    expect(rapiro).to respond_to :left_sholder_pitch
+    expect(rapiro).to respond_to :left_hand_grip=
+    expect(rapiro).to respond_to :left_hand_grip
+    expect(rapiro).to respond_to :right_foot_yaw=
+    expect(rapiro).to respond_to :right_foot_yaw
+    expect(rapiro).to respond_to :right_foot_pitch=
+    expect(rapiro).to respond_to :right_foot_pitch
+    expect(rapiro).to respond_to :left_foot_yaw=
+    expect(rapiro).to respond_to :left_foot_yaw
+    expect(rapiro).to respond_to :left_foot_pitch=
+    expect(rapiro).to respond_to :left_foot_pitch
+
+    expect(rapiro).to respond_to :eyes=
+    expect(rapiro).to respond_to :eyes
+
+    expect(rapiro).to respond_to :sequences
+    expect(rapiro.sequences).to eq(
+      '#P' \
+      'S00A090' \
+      'S01A090' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A090' \
+      'S01A090' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.head = { left: 40 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A130' \
+      'S01A090' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.head = { right: 20 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A090' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.waist = { left: 20 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A110' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.waist = { right: 40 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A000' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_sholder_roll = { up: 40 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A040' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_sholder_roll = { up: 120 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A130' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_sholder_pitch = { up: 30 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A100' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_sholder_pitch = { up: 80 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A090' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_hand_grip = { open: 10 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A100' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_hand_grip = { hold: 20 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A180' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_sholder_roll = { up: 20 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A160' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_sholder_roll = { up: 90 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A050' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_sholder_pitch = { up: 70 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A120' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_sholder_pitch = { up: 10 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A090' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_hand_grip = { open: 0 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A060' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_hand_grip = { hold: 0 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A090' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_foot_yaw = { close: 10 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A080' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_foot_yaw = { open: 20 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A090' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_foot_pitch = { open: 30 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A080' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.right_foot_pitch = { close: 0 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A090' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_foot_yaw = { open: 0 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A050' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_foot_yaw = { close: 10 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A100' \
+      'S11A090' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_foot_pitch = { open: 30 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A100' \
+      'S11A100' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.left_foot_pitch = { close: 0 }
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A100' \
+      'S11A110' \
+      'R000G000B128' \
+      'T010')
+    rapiro.execute!
+
+    rapiro.eyes = '#808000'
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A100' \
+      'S11A110' \
+      'R128G128B000' \
+      'T010')
+    rapiro.execute!
+
+    expect(serial).to receive(:write).with(
+      '#P' \
+      'S00A070' \
+      'S01A050' \
+      'S02A120' \
+      'S03A050' \
+      'S04A080' \
+      'S05A090' \
+      'S06A060' \
+      'S07A110' \
+      'S08A110' \
+      'S09A070' \
+      'S10A100' \
+      'S11A110' \
+      'R128G128B000' \
+      'T128')
+    rapiro.execute!(128)
+  end
+end