robotic-arm 0.1.1 → 0.1.2
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- data/lib/robotic-arm.rb +10 -10
- metadata +2 -2
data/lib/robotic-arm.rb
CHANGED
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@@ -21,6 +21,8 @@ class RoboticArm
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def active?() @active end
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def activate(switch, val, seconds=0)
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24
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+
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+
return if val == @previous_val
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@active = val >= 0
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@prev_val = val
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@@ -54,12 +56,12 @@ class RoboticArm
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super(robot_arm)
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@switch, @val = 0, OFF
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end
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57
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-
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58
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-
protected
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def stop() (@active = false; activate(@switch, -(@prev_val))) if moving? end
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alias moving? active?
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63
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+
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+
protected
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def activate(switch, val, seconds=0)
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(@val = @prev_val; stop) if active?
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@@ -69,11 +71,9 @@ class RoboticArm
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end
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class ComponentUpDown < ComponentMoving
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-
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-
protected
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def up (seconds=0) activate(@switch, @upval, seconds) end
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-
def down(seconds=0) activate(@switch, @downval, seconds) end
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76
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+
def down(seconds=0) activate(@switch, @downval, seconds) end
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end
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class Shoulder < ComponentUpDown
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@@ -155,17 +155,17 @@ class RoboticArm
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# turn off all active signals
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#
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def off()
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158
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-
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-
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158
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led.off if on?
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stop
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@handle.release_interface(0)
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end
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# stop all robotic movement
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#
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def stop()
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-
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-
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168
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-
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166
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[wrist, elbow, shoulder, base, grip].each do |motor|
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167
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motor.stop if motor.moving?
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end
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end
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private
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metadata
CHANGED
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@@ -2,7 +2,7 @@
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2
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name: robotic-arm
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version: !ruby/object:Gem::Version
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prerelease:
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-
version: 0.1.
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version: 0.1.2
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platform: ruby
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authors:
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- James Robertson
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@@ -10,7 +10,7 @@ autorequire:
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bindir: bin
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cert_chain: []
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-
date: 2012-12-
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+
date: 2012-12-20 00:00:00 Z
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dependencies:
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- !ruby/object:Gem::Dependency
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name: libusb
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