robotic-arm 0.1.2 → 0.1.3
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- data/lib/robotic-arm.rb +42 -9
- metadata +1 -1
data/lib/robotic-arm.rb
CHANGED
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@@ -51,15 +51,21 @@ class RoboticArm
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51
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end
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class ComponentMoving < Component
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54
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-
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54
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+
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def initialize(robot_arm)
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super(robot_arm)
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@switch, @val = 0, OFF
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@moving = false
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end
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60
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-
def stop()
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61
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def stop()
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62
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if moving? then
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63
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@active = false
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64
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activate(@switch, -(@prev_val))
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end
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end
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-
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68
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def moving?() @active ? @moving : false end
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protected
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@@ -72,8 +78,17 @@ class RoboticArm
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class ComponentUpDown < ComponentMoving
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-
def up
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76
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-
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81
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def up(seconds=0)
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return if @active and @moving == :up
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activate(@switch, @upval, seconds)
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@moving = :up
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end
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def down(seconds=0)
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return if @active and @moving == :down
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activate(@switch, @downval, seconds)
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@moving = :down
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end
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end
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class Shoulder < ComponentUpDown
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@@ -107,14 +122,32 @@ class RoboticArm
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@switch = 1
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end
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-
def left
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-
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def left(seconds=0)
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return if @active and @moving == :left
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activate(@switch, @val=0x02, seconds)
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@moving = :left
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end
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+
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def right(seconds=0)
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return if @active and @moving == :right
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activate(@switch, @val=0x01, seconds)
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@moving = :right
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end
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end
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class Gripper < ComponentMoving
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-
def open (seconds=0)
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-
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def open (seconds=0)
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return if @active and @moving == :open
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activate(@switch, @val=0x02, seconds)
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@moving = :open
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end
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+
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def close(seconds=0)
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return if @active and @moving == :close
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activate(@switch, @val=0x01, seconds)
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@moving = :close
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end
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end
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