rotor 0.0.9 → 0.0.10
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- checksums.yaml +4 -4
- data/lib/rotor/motor.rb +9 -7
- data/lib/rotor/version.rb +1 -1
- metadata +1 -1
checksums.yaml
CHANGED
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@@ -1,7 +1,7 @@
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1
1
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---
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2
2
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SHA1:
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3
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-
metadata.gz:
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4
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-
data.tar.gz:
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|
3
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+
metadata.gz: 749e70524d5cd517fec84abfafd70ea35791a3b6
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|
4
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+
data.tar.gz: 8f3f7295f4423fedeeb579fb99e1085408f40499
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5
5
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SHA512:
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6
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-
metadata.gz:
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|
7
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-
data.tar.gz:
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6
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+
metadata.gz: cf6377a70975b031edac451120b6d7ae201f5acb937481e1ce3f3f8c16c8bc039f74bd901dc68823acb67b09ec24645713c537f1cba8d7973c33a42a5aabb826
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|
7
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+
data.tar.gz: 473517bc860cff6ebc4f71bcb3c956eb676523725ba7d7bdd26c4bbd4adb19ae3ed03526c306000c92bc7b57f8c244ab359e1c97753b8f116ea2731a0aa3fcf3
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data/lib/rotor/motor.rb
CHANGED
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@@ -2,7 +2,7 @@ require 'wiringpi'
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|
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2
2
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3
3
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module Rotor
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4
4
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class Stepper
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|
5
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-
def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil)
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|
5
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+
def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally)
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6
6
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@io = WiringPi::GPIO.new(WPI_MODE_GPIO)
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|
7
7
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@coil_A_1_pin = coil_A_1_pin
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8
8
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@coil_A_2_pin = coil_A_2_pin
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@@ -10,6 +10,8 @@ module Rotor
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|
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10
10
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@coil_B_2_pin = coil_B_2_pin
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11
11
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@enable_pin = enable_pin
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12
12
|
|
|
13
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+
@homing_switch = homing_switch
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14
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+
@homing_normally = homing_normally
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|
13
15
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[@coil_A_1_pin, @coil_A_2_pin, @coil_B_1_pin, @coil_B_2_pin].each do |pin|
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|
14
16
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`echo #{pin} > /sys/class/gpio/unexport`
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15
17
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@io.mode(pin,OUTPUT)
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@@ -59,14 +61,14 @@ module Rotor
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|
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59
61
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@io.write(@coil_B_2_pin, w4)
|
|
60
62
|
end
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|
61
63
|
|
|
62
|
-
def set_home(
|
|
63
|
-
`echo #{homing_switch} > /sys/class/gpio/unexport`
|
|
64
|
-
@io.mode(homing_switch,INPUT)
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|
64
|
+
def set_home(direction)
|
|
65
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+
`echo #{@homing_switch} > /sys/class/gpio/unexport`
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|
66
|
+
@io.mode(@homing_switch,INPUT)
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|
65
67
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@move = true
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|
66
68
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while @move == true
|
|
67
|
-
backwards(2,1) if direction == :backwards #&& @io.read(homing_switch) == homing_normally
|
|
68
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-
forward(2,1) if direction == :forward #&& @io.read(homing_switch) == homing_normally
|
|
69
|
-
@move = false unless @io.read(homing_switch) == homing_normally
|
|
69
|
+
backwards(2,1) if direction == :backwards #&& @io.read(@homing_switch) == @homing_normally
|
|
70
|
+
forward(2,1) if direction == :forward #&& @io.read(@homing_switch) == @homing_normally
|
|
71
|
+
@move = false unless @io.read(@homing_switch) == @homing_normally
|
|
70
72
|
end
|
|
71
73
|
end
|
|
72
74
|
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data/lib/rotor/version.rb
CHANGED