robotic-arm 0.1.0 → 0.1.1

data/lib/robotic-arm.rb

@@ -10,18 +10,22 @@ OFF = 0x00
 class RoboticArm
 
   attr_reader :led, :wrist, :elbow, :shoulder, :base, :grip
+  attr_reader :light, :gripper    # aliases for :led and :grip
 
   class Component
 
     def initialize(robot_arm)  @ra = robot_arm  end
-    def active?()  @active                      end
+      
+    protected      
     
-    protected
+    def active?()  @active                      end    
 
-    def activate(switch, val, seconds)  
+    def activate(switch, val, seconds=0)  
+      
       @active = val >= 0
       @prev_val = val 
       @ra.command(switch, val)
+      
       if seconds > 0 then
         sleep seconds  
         @ra.command(switch, -(val))
@@ -38,13 +42,8 @@ class RoboticArm
       @switch = 2 
     end
 
-    def on(seconds=0)
-      activate(@switch, 0x01, seconds) unless on?
-    end
-
-    def off(seconds=0)  
-      activate(@switch, -0x01, seconds) if on?
-    end
+    def on(seconds=0)  activate(@switch,  0x01, seconds) unless on?  end
+    def off()          activate(@switch, -0x01) if on?               end
 
     alias on? active?
   end
@@ -56,34 +55,25 @@ class RoboticArm
       @switch, @val = 0, OFF  
     end
 
-    def activate(switch, val, seconds=0)  
-      if active? then
-        @val = @prev_val
-        stop
-      end
-      super(switch, val, seconds)
-    end
-
-    def stop()
-      if moving? then
-        @active = false
-        activate(@switch, -(@prev_val))
-      end 
-    end
+    protected    
+    
+    def stop()  (@active = false;  activate(@switch, -(@prev_val))) if moving?   end
 
     alias moving? active?
-
+                                
+    def activate(switch, val, seconds=0)        
+      (@val = @prev_val; stop) if active?
+      super(switch, val, seconds)
+    end
+                
   end
 
   class ComponentUpDown < ComponentMoving
 
-    def up(seconds=0)
-      activate(@switch, @upval,seconds)
-    end
-
-    def down(seconds=0)
-      activate(@switch, @downval, seconds)
-    end
+    protected
+                
+    def up  (seconds=0)  activate(@switch, @upval,   seconds) end
+    def down(seconds=0)  activate(@switch, @downval, seconds) end
   end
 
   class Shoulder < ComponentUpDown
@@ -117,24 +107,14 @@ class RoboticArm
       @switch = 1     
     end
 
-    def left(seconds=0)  
-      activate(@switch, @val=0x02, seconds)
-    end
-
-    def right(seconds=0)
-      activate(@switch, @val=0x01, seconds)
-    end
+    def left (seconds=0)  activate(@switch, @val=0x02, seconds)  end
+    def right(seconds=0)  activate(@switch, @val=0x01, seconds)  end
   end
 
-  class Grip     < ComponentMoving
-
-    def open(seconds=0)
-      activate(@switch, @val=0x02, seconds)
-    end
+  class Gripper  < ComponentMoving
 
-    def close(seconds=0)
-      activate(@switch, @val=0x01, seconds)
-    end
+    def open (seconds=0)  activate(@switch, @val=0x02, seconds)  end
+    def close(seconds=0)  activate(@switch, @val=0x01, seconds)  end
   end
 
 
@@ -144,10 +124,7 @@ class RoboticArm
     usb = LIBUSB::Context.new
     arm = usb.devices(:idVendor => 0x1267, :idProduct => 0x0000).first
 
-    if arm == nil
-      puts "Arm not found!"
-      exit
-    end
+    (puts "Arm not found!"; exit) unless arm
 
     # Take control of the device
     @handle = arm.open
@@ -158,8 +135,10 @@ class RoboticArm
     @elbow    = Elbow.new    self
     @shoulder = Shoulder.new self
     @base     = Base.new     self
-    @grip     = Grip.new     self
+    @grip     = Gripper.new  self
     @register = [OFF,OFF,OFF]
+    
+    @light, @gripper = @led, @grip  #aliases
   end  
 
   def left(seconds=0)  @base.left  seconds  end
@@ -173,15 +152,6 @@ class RoboticArm
     handle_command
   end
 
-  # Send the signal 
-  #
-  def handle_command()
-
-    @handle.control_transfer(:bmRequestType => 0x40, :bRequest => 6, \
-      :wValue => 0x100, :wIndex => 0, :dataOut => @register.pack('CCC'), \
-      :timeout => 1000)
-  end
-
   # turn off all active signals
   #
   def off()    
@@ -198,6 +168,23 @@ class RoboticArm
     handle_command
   end
 
+  private
+                
+  # Send the signal 
+  #
+  def handle_command()
+
+    message = { 
+                bmRequestType:  0x40, 
+                     bRequest:  6,
+                       wValue:  0x100, 
+                       wIndex:  0,
+                      dataOut:  @register.pack('CCC'), 
+                      timeout:  1000
+              }
+    @handle.control_transfer message
+  end
+                
 end
 
 if __FILE__ == $0 then

metadata

@@ -2,7 +2,7 @@
 name: robotic-arm
 version: !ruby/object:Gem::Version 
   prerelease: 
-  version: 0.1.0
+  version: 0.1.1
 platform: ruby
 authors: 
 - James Robertson
@@ -10,7 +10,7 @@ autorequire:
 bindir: bin
 cert_chain: []
 
-date: 2012-12-18 00:00:00 Z
+date: 2012-12-19 00:00:00 Z
 dependencies: 
 - !ruby/object:Gem::Dependency 
   name: libusb