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rapiro_wrapper 0.1.0

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Files changed (52) hide show

checksums.yaml +7 -0
data/.gitignore +16 -0
data/.rspec +2 -0
data/.ruby-gemset +1 -0
data/.ruby-version +1 -0
data/Gemfile +4 -0
data/LICENSE.txt +22 -0
data/README.md +138 -0
data/Rakefile +5 -0
data/bin/rapiro_wrapper +147 -0
data/lib/rapiro_wrapper.rb +23 -0
data/lib/rapiro_wrapper/body.rb +43 -0
data/lib/rapiro_wrapper/command.rb +19 -0
data/lib/rapiro_wrapper/commander.rb +28 -0
data/lib/rapiro_wrapper/led.rb +4 -0
data/lib/rapiro_wrapper/led/eyes.rb +23 -0
data/lib/rapiro_wrapper/servo_motor.rb +27 -0
data/lib/rapiro_wrapper/servo_motor/head.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/left_foot_pitch.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/left_foot_yaw.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/left_hand_grip.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/left_sholder_pitch.rb +18 -0
data/lib/rapiro_wrapper/servo_motor/left_sholder_roll.rb +18 -0
data/lib/rapiro_wrapper/servo_motor/right_foot_pitch.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/right_foot_yaw.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/right_hand_grip.rb +21 -0
data/lib/rapiro_wrapper/servo_motor/right_sholder_pitch.rb +18 -0
data/lib/rapiro_wrapper/servo_motor/right_sholder_roll.rb +14 -0
data/lib/rapiro_wrapper/servo_motor/waist.rb +21 -0
data/lib/rapiro_wrapper/version.rb +4 -0
data/rapiro_wrapper.gemspec +27 -0
data/spec/integration/base_spec.rb +577 -0
data/spec/rapiro_wrapper/body_spec.rb +77 -0
data/spec/rapiro_wrapper/command_spec.rb +54 -0
data/spec/rapiro_wrapper/commander_spec.rb +111 -0
data/spec/rapiro_wrapper/led/eyes_spec.rb +38 -0
data/spec/rapiro_wrapper/servo_moter/head_spec.rb +248 -0
data/spec/rapiro_wrapper/servo_moter/left_foot_pitch_spec.rb +261 -0
data/spec/rapiro_wrapper/servo_moter/left_foot_yaw_spec.rb +256 -0
data/spec/rapiro_wrapper/servo_moter/left_hand_grip_spec.rb +256 -0
data/spec/rapiro_wrapper/servo_moter/left_sholder_pitch_spec.rb +134 -0
data/spec/rapiro_wrapper/servo_moter/left_sholder_roll_spec.rb +150 -0
data/spec/rapiro_wrapper/servo_moter/right_foot_pitch_spec.rb +261 -0
data/spec/rapiro_wrapper/servo_moter/right_foot_yaw_spec.rb +256 -0
data/spec/rapiro_wrapper/servo_moter/right_hand_grip_spec.rb +256 -0
data/spec/rapiro_wrapper/servo_moter/right_sholder_pitch_spec.rb +134 -0
data/spec/rapiro_wrapper/servo_moter/right_sholder_roll_spec.rb +150 -0
data/spec/rapiro_wrapper/servo_moter/waist_spec.rb +248 -0
data/spec/rapiro_wrapper/servo_moter_spec.rb +64 -0
data/spec/rapiro_wrapper/version_spec.rb +11 -0
data/spec/spec_helper.rb +4 -0
metadata +199 -0

data/spec/rapiro_wrapper/servo_moter/left_hand_grip_spec.rb ADDED Viewed

@@ -0,0 +1,256 @@
+require 'spec_helper'
+RSpec.describe RapiroWrapper::LeftHandGrip do
+  context 'constants' do
+    context 'NO' do
+      subject { described_class.const_get(:NO) }
+      it { is_expected.to eq 7 }
+    end
+    context 'DEFAULT' do
+      subject { described_class.const_get(:DEFAULT) }
+      it { is_expected.to eq 90 }
+    end
+    context 'MIN' do
+      subject { described_class.const_get(:MIN) }
+      it { is_expected.to eq 60 }
+    end
+    context 'MAX' do
+      subject { described_class.const_get(:MAX) }
+      it { is_expected.to eq 110 }
+    end
+  end
+  context '.code' do
+    context 'without arguments' do
+      subject { described_class.code }
+      it { is_expected.to eq 'S07A090' }
+    end
+    context 'with both open and hold' do
+      subject { described_class.code(option) }
+      let(:option) { { open: 0, hold: 0 } }
+      it { expect { subject }.to raise_error ArgumentError }
+    end
+    context 'with open' do
+      subject { described_class.code(option) }
+      context '-180' do
+        let(:option) { { open: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { open: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { open: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { open: 0 } }
+        it { is_expected.to eq 'S07A060' }
+      end
+      context '50' do
+        let(:option) { { open: 50 } }
+        it { is_expected.to eq 'S07A110' }
+      end
+      context '51' do
+        let(:option) { { open: 51 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '90' do
+        let(:option) { { open: 90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { open: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+    context 'with hold' do
+      subject { described_class.code(option) }
+      context '-180' do
+        let(:option) { { hold: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { hold: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { hold: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { hold: 0 } }
+        it { is_expected.to eq 'S07A110' }
+      end
+      context '50' do
+        let(:option) { { hold: 50 } }
+        it { is_expected.to eq 'S07A060' }
+      end
+      context '51' do
+        let(:option) { { hold: 51 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '90' do
+        let(:option) { { hold: 90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { hold: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+  context 'constructor' do
+    context 'without arguments' do
+      subject { described_class.new }
+      it { expect { subject }.to_not raise_error }
+      context '@value' do
+        subject { described_class.new.instance_variable_get(:@value) }
+        it { is_expected.to eq 90 }
+      end
+      context '#to_code' do
+        subject { described_class.new.to_code }
+        it { is_expected.to eq 'S07A090' }
+      end
+    end
+    context 'with both open and hold' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      let(:option) { { open: 0, hold: 0 } }
+      it { expect { subject }.to raise_error ArgumentError }
+    end
+    context 'with open' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      context '-180' do
+        let(:option) { { open: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { open: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { open: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { open: 0 } }
+        context '@value' do
+          it { is_expected.to eq 60 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S07A060' }
+        end
+      end
+      context '50' do
+        let(:option) { { open: 50 } }
+        context '@value' do
+          it { is_expected.to eq 110 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S07A110' }
+        end
+      end
+      context '51' do
+        let(:option) { { open: 51 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '90' do
+        let(:option) { { open: 90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { open: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+    context 'with hold' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      context '-180' do
+        let(:option) { { hold: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { hold: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { hold: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { hold: 0 } }
+        context '@value' do
+          it { is_expected.to eq 110 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S07A110' }
+        end
+      end
+      context '50' do
+        let(:option) { { hold: 50 } }
+        context '@value' do
+          it { is_expected.to eq 60 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S07A060' }
+        end
+      end
+      context '51' do
+        let(:option) { { hold: 51 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '90' do
+        let(:option) { { hold: 90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { hold: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+end

data/spec/rapiro_wrapper/servo_moter/left_sholder_pitch_spec.rb ADDED Viewed

@@ -0,0 +1,134 @@
+require 'spec_helper'
+RSpec.describe RapiroWrapper::LeftSholderPitch do
+  context 'constants' do
+    context 'NO' do
+      subject { described_class.const_get(:NO) }
+      it { is_expected.to eq 6 }
+    end
+    context 'DEFAULT' do
+      subject { described_class.const_get(:DEFAULT) }
+      it { is_expected.to eq 50 }
+    end
+    context 'MIN' do
+      subject { described_class.const_get(:MIN) }
+      it { is_expected.to eq 50 }
+    end
+    context 'MAX' do
+      subject { described_class.const_get(:MAX) }
+      it { is_expected.to eq 140 }
+    end
+  end
+  context '.code' do
+    context 'without arguments' do
+      subject { described_class.code }
+      it { is_expected.to eq 'S06A050' }
+    end
+    context 'with up' do
+      subject { described_class.code(option) }
+      context '-180' do
+        let(:option) { { up: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { up: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { up: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { up: 0 } }
+        it { is_expected.to eq 'S06A050' }
+      end
+      context '90' do
+        let(:option) { { up: 90 } }
+        it { is_expected.to eq 'S06A140' }
+      end
+      context '91' do
+        let(:option) { { up: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { up: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+  context 'constructor' do
+    context 'without arguments' do
+      subject { described_class.new }
+      it { expect { subject }.to_not raise_error }
+      context '@value' do
+        subject { described_class.new.instance_variable_get(:@value) }
+        it { is_expected.to eq 50 }
+      end
+      context '#to_code' do
+        subject { described_class.new.to_code }
+        it { is_expected.to eq 'S06A050' }
+      end
+    end
+    context 'with up' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      context '-180' do
+        let(:option) { { up: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { up: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { up: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { up: 0 } }
+        context '@value' do
+          it { is_expected.to eq 50 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S06A050' }
+        end
+      end
+      context '90' do
+        let(:option) { { up: 90 } }
+        context '@value' do
+          it { is_expected.to eq 140 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S06A140' }
+        end
+      end
+      context '91' do
+        let(:option) { { up: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '180' do
+        let(:option) { { up: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+end

data/spec/rapiro_wrapper/servo_moter/left_sholder_roll_spec.rb ADDED Viewed

@@ -0,0 +1,150 @@
+require 'spec_helper'
+RSpec.describe RapiroWrapper::LeftSholderRoll do
+  context 'constants' do
+    context 'NO' do
+      subject { described_class.const_get(:NO) }
+      it { is_expected.to eq 5 }
+    end
+    context 'DEFAULT' do
+      subject { described_class.const_get(:DEFAULT) }
+      it { is_expected.to eq 180 }
+    end
+    context 'MIN' do
+      subject { described_class.const_get(:MIN) }
+      it { is_expected.to eq 0 }
+    end
+    context 'MAX' do
+      subject { described_class.const_get(:MAX) }
+      it { is_expected.to eq 180 }
+    end
+  end
+  context '.code' do
+    context 'without arguments' do
+      subject { described_class.code }
+      it { is_expected.to eq 'S05A180' }
+    end
+    context 'with up' do
+      subject { described_class.code(option) }
+      context '-180' do
+        let(:option) { { up: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { up: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { up: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { up: 0 } }
+        it { is_expected.to eq 'S05A180' }
+      end
+      context '90' do
+        let(:option) { { up: 90 } }
+        it { is_expected.to eq 'S05A090' }
+      end
+      context '180' do
+        let(:option) { { up: 180 } }
+        it { is_expected.to eq 'S05A000' }
+      end
+      context '181' do
+        let(:option) { { up: 181 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '270' do
+        let(:option) { { up: 270 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+  context 'constructor' do
+    context 'without arguments' do
+      subject { described_class.new }
+      it { expect { subject }.to_not raise_error }
+      context '@value' do
+        subject { described_class.new.instance_variable_get(:@value) }
+        it { is_expected.to eq 180 }
+      end
+      context '#to_code' do
+        subject { described_class.new.to_code }
+        it { is_expected.to eq 'S05A180' }
+      end
+    end
+    context 'with up' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      context '-180' do
+        let(:option) { { up: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-90' do
+        let(:option) { { up: -90 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '-1' do
+        let(:option) { { up: -1 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '0' do
+        let(:option) { { up: 0 } }
+        context '@value' do
+          it { is_expected.to eq 180 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S05A180' }
+        end
+      end
+      context '90' do
+        let(:option) { { up: 90 } }
+        context '@value' do
+          it { is_expected.to eq 90 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S05A090' }
+        end
+      end
+      context '180' do
+        let(:option) { { up: 180 } }
+        context '@value' do
+          it { is_expected.to eq 0 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S05A000' }
+        end
+      end
+      context '181' do
+        let(:option) { { up: 181 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+      context '270' do
+        let(:option) { { up: 270 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+end