rotor 0.0.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- checksums.yaml +7 -0
- data/.gitignore +14 -0
- data/Gemfile +4 -0
- data/LICENSE.txt +22 -0
- data/README.md +81 -0
- data/Rakefile +2 -0
- data/lib/rotor/motor.rb +53 -0
- data/lib/rotor/version.rb +3 -0
- data/lib/rotor.rb +5 -0
- data/rotor.gemspec +24 -0
- metadata +95 -0
checksums.yaml
ADDED
@@ -0,0 +1,7 @@
|
|
1
|
+
---
|
2
|
+
SHA1:
|
3
|
+
metadata.gz: 7e809240d00248a17b4f0968d9ef774a433bd618
|
4
|
+
data.tar.gz: 6c23efe5fd4047c8ac3f4f3ad36a688b9c6c6dd9
|
5
|
+
SHA512:
|
6
|
+
metadata.gz: 17b772dedf3a7b7afcbd89cef0054ab3218fa09fb007439b98208b710f917ab9f7db6f6091e10ea634404481805da828321ca9d6bd11fb88fcbc1bcbb5506d8d
|
7
|
+
data.tar.gz: 42d6859e214b3309e0abd1e500f7b6eaac9fe90e2b3e1ae45cf2ae7f811515f700025f4e840e15efcba2aa7bcbd6724300843da31ce9cd22fbe39946c0d703c1
|
data/.gitignore
ADDED
data/Gemfile
ADDED
data/LICENSE.txt
ADDED
@@ -0,0 +1,22 @@
|
|
1
|
+
Copyright (c) 2015 kobaltz
|
2
|
+
|
3
|
+
MIT License
|
4
|
+
|
5
|
+
Permission is hereby granted, free of charge, to any person obtaining
|
6
|
+
a copy of this software and associated documentation files (the
|
7
|
+
"Software"), to deal in the Software without restriction, including
|
8
|
+
without limitation the rights to use, copy, modify, merge, publish,
|
9
|
+
distribute, sublicense, and/or sell copies of the Software, and to
|
10
|
+
permit persons to whom the Software is furnished to do so, subject to
|
11
|
+
the following conditions:
|
12
|
+
|
13
|
+
The above copyright notice and this permission notice shall be
|
14
|
+
included in all copies or substantial portions of the Software.
|
15
|
+
|
16
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17
|
+
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
18
|
+
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
19
|
+
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
20
|
+
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
21
|
+
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
22
|
+
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
data/README.md
ADDED
@@ -0,0 +1,81 @@
|
|
1
|
+
# Rotor (Ruby Motor)
|
2
|
+
|
3
|
+
Tested on RaspberryPi Model B+ but should work for any Raspberry Pi.
|
4
|
+
|
5
|
+
This Ruby gem allows you to control different kinds of stepper motors. You
|
6
|
+
can use this gem to run both Bipolar and Unipolar motors with either L293D
|
7
|
+
or ULN2800 Integrated Controllers.
|
8
|
+
|
9
|
+
## Installation
|
10
|
+
|
11
|
+
Make sure that you have WiringPi installed first
|
12
|
+
|
13
|
+
gem install wiringpi
|
14
|
+
|
15
|
+
Install Rotor
|
16
|
+
|
17
|
+
gem install rotor
|
18
|
+
|
19
|
+
# Usage
|
20
|
+
|
21
|
+
The goal of this gem is to make controlling your robotics easier than
|
22
|
+
other solutions.
|
23
|
+
|
24
|
+
stepper_x = Rotor::Stepper.new(4,17,23,24,18)
|
25
|
+
stepper_y = Rotor::Stepper.new(25,12,16,21,18)
|
26
|
+
|
27
|
+
loop do
|
28
|
+
puts "Enter steps forward::"
|
29
|
+
text = gets.chomp
|
30
|
+
|
31
|
+
threads = []
|
32
|
+
threads << Thread.new { stepper_x.forward(5,text.to_i) }
|
33
|
+
threads << Thread.new { stepper_y.forward(5,text.to_i) }
|
34
|
+
threads.each { |thr| thr.join }
|
35
|
+
|
36
|
+
puts "Enter steps backward::"
|
37
|
+
text = gets.chomp
|
38
|
+
|
39
|
+
stepper_x.backwards(5,text.to_i)
|
40
|
+
stepper_y.backwards(5,text.to_i)
|
41
|
+
end
|
42
|
+
|
43
|
+
# Asynchronous Movement
|
44
|
+
|
45
|
+
By default, if you run the first motor and then the second motor commands,
|
46
|
+
the first command will execute first and the second one will execute afterwards.
|
47
|
+
This may not always be the desired result as your plot/laser/mill may get ruined
|
48
|
+
by having nonsynchronous movements.
|
49
|
+
|
50
|
+
Since Ruby by default will not asynchronously execute commands, you can combine
|
51
|
+
the X/Y/Z movements into their own threads.
|
52
|
+
|
53
|
+
threads = []
|
54
|
+
threads << Thread.new { stepper_x.forward(5,text.to_i) }
|
55
|
+
threads << Thread.new { stepper_y.forward(5,text.to_i) }
|
56
|
+
threads.each { |thr| thr.join }
|
57
|
+
|
58
|
+
# License
|
59
|
+
|
60
|
+
Copyright (c) 2015 kobaltz
|
61
|
+
|
62
|
+
MIT License
|
63
|
+
|
64
|
+
Permission is hereby granted, free of charge, to any person obtaining
|
65
|
+
a copy of this software and associated documentation files (the
|
66
|
+
"Software"), to deal in the Software without restriction, including
|
67
|
+
without limitation the rights to use, copy, modify, merge, publish,
|
68
|
+
distribute, sublicense, and/or sell copies of the Software, and to
|
69
|
+
permit persons to whom the Software is furnished to do so, subject to
|
70
|
+
the following conditions:
|
71
|
+
|
72
|
+
The above copyright notice and this permission notice shall be
|
73
|
+
included in all copies or substantial portions of the Software.
|
74
|
+
|
75
|
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
76
|
+
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
77
|
+
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
78
|
+
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
79
|
+
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
80
|
+
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
81
|
+
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
data/Rakefile
ADDED
data/lib/rotor/motor.rb
ADDED
@@ -0,0 +1,53 @@
|
|
1
|
+
module Rotor
|
2
|
+
class Stepper
|
3
|
+
def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin)
|
4
|
+
@io = WiringPi::GPIO.new(WPI_MODE_GPIO)
|
5
|
+
@coil_A_1_pin = coil_A_1_pin
|
6
|
+
@coil_A_2_pin = coil_A_2_pin
|
7
|
+
@coil_B_1_pin = coil_B_1_pin
|
8
|
+
@coil_B_2_pin = coil_B_2_pin
|
9
|
+
@enable_pin = enable_pin
|
10
|
+
[coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin].each do |pin|
|
11
|
+
`echo #{pin} > /sys/class/gpio/unexport`
|
12
|
+
@io.mode(pin,OUTPUT)
|
13
|
+
@io.write(pin,LOW)
|
14
|
+
end
|
15
|
+
@io.write(enable_pin,HIGH)
|
16
|
+
end
|
17
|
+
|
18
|
+
def forward(delay=5,steps=100)
|
19
|
+
delay_time = delay/1000.0
|
20
|
+
(0..steps).each do |i|
|
21
|
+
set_step(1, 0, 1, 0)
|
22
|
+
sleep delay_time
|
23
|
+
set_step(0, 1, 1, 0)
|
24
|
+
sleep delay_time
|
25
|
+
set_step(0, 1, 0, 1)
|
26
|
+
sleep delay_time
|
27
|
+
set_step(1, 0, 0, 1)
|
28
|
+
sleep delay_time
|
29
|
+
end
|
30
|
+
end
|
31
|
+
|
32
|
+
def backwards(delay=5,steps=100)
|
33
|
+
delay_time = delay/1000.0
|
34
|
+
(0..steps).each do |i|
|
35
|
+
set_step(1, 0, 0, 1)
|
36
|
+
sleep delay_time
|
37
|
+
set_step(0, 1, 0, 1)
|
38
|
+
sleep delay_time
|
39
|
+
set_step(0, 1, 1, 0)
|
40
|
+
sleep delay_time
|
41
|
+
set_step(1, 0, 1, 0)
|
42
|
+
sleep delay_time
|
43
|
+
end
|
44
|
+
end
|
45
|
+
|
46
|
+
def set_step(w1, w2, w3, w4)
|
47
|
+
@io.write(@coil_A_1_pin, w1)
|
48
|
+
@io.write(@coil_A_2_pin, w2)
|
49
|
+
@io.write(@coil_B_1_pin, w3)
|
50
|
+
@io.write(@coil_B_2_pin, w4)
|
51
|
+
end
|
52
|
+
end
|
53
|
+
end
|
data/lib/rotor.rb
ADDED
data/rotor.gemspec
ADDED
@@ -0,0 +1,24 @@
|
|
1
|
+
# coding: utf-8
|
2
|
+
lib = File.expand_path('../lib', __FILE__)
|
3
|
+
$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
|
4
|
+
require 'rotor/version'
|
5
|
+
|
6
|
+
Gem::Specification.new do |spec|
|
7
|
+
spec.name = "rotor"
|
8
|
+
spec.version = Rotor::VERSION
|
9
|
+
spec.authors = ["kobaltz"]
|
10
|
+
spec.email = ["dave@k-innovations.net"]
|
11
|
+
spec.summary = %q{Ruby Gem for controlling Bipolar and Unipolar motors}
|
12
|
+
spec.description = %q{Ruby Gem for controlling Bipolar and Unipolar motors}
|
13
|
+
spec.homepage = ""
|
14
|
+
spec.license = "MIT"
|
15
|
+
|
16
|
+
spec.files = `git ls-files -z`.split("\x0")
|
17
|
+
spec.executables = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
|
18
|
+
spec.test_files = spec.files.grep(%r{^(test|spec|features)/})
|
19
|
+
spec.require_paths = ["lib"]
|
20
|
+
|
21
|
+
spec.add_development_dependency "bundler", "~> 1.7"
|
22
|
+
spec.add_development_dependency "rake", "~> 10.0"
|
23
|
+
spec.add_dependency "wiringpi"
|
24
|
+
end
|
metadata
ADDED
@@ -0,0 +1,95 @@
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
2
|
+
name: rotor
|
3
|
+
version: !ruby/object:Gem::Version
|
4
|
+
version: 0.0.1
|
5
|
+
platform: ruby
|
6
|
+
authors:
|
7
|
+
- kobaltz
|
8
|
+
autorequire:
|
9
|
+
bindir: bin
|
10
|
+
cert_chain: []
|
11
|
+
date: 2015-01-15 00:00:00.000000000 Z
|
12
|
+
dependencies:
|
13
|
+
- !ruby/object:Gem::Dependency
|
14
|
+
name: bundler
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
16
|
+
requirements:
|
17
|
+
- - "~>"
|
18
|
+
- !ruby/object:Gem::Version
|
19
|
+
version: '1.7'
|
20
|
+
type: :development
|
21
|
+
prerelease: false
|
22
|
+
version_requirements: !ruby/object:Gem::Requirement
|
23
|
+
requirements:
|
24
|
+
- - "~>"
|
25
|
+
- !ruby/object:Gem::Version
|
26
|
+
version: '1.7'
|
27
|
+
- !ruby/object:Gem::Dependency
|
28
|
+
name: rake
|
29
|
+
requirement: !ruby/object:Gem::Requirement
|
30
|
+
requirements:
|
31
|
+
- - "~>"
|
32
|
+
- !ruby/object:Gem::Version
|
33
|
+
version: '10.0'
|
34
|
+
type: :development
|
35
|
+
prerelease: false
|
36
|
+
version_requirements: !ruby/object:Gem::Requirement
|
37
|
+
requirements:
|
38
|
+
- - "~>"
|
39
|
+
- !ruby/object:Gem::Version
|
40
|
+
version: '10.0'
|
41
|
+
- !ruby/object:Gem::Dependency
|
42
|
+
name: wiringpi
|
43
|
+
requirement: !ruby/object:Gem::Requirement
|
44
|
+
requirements:
|
45
|
+
- - ">="
|
46
|
+
- !ruby/object:Gem::Version
|
47
|
+
version: '0'
|
48
|
+
type: :runtime
|
49
|
+
prerelease: false
|
50
|
+
version_requirements: !ruby/object:Gem::Requirement
|
51
|
+
requirements:
|
52
|
+
- - ">="
|
53
|
+
- !ruby/object:Gem::Version
|
54
|
+
version: '0'
|
55
|
+
description: Ruby Gem for controlling Bipolar and Unipolar motors
|
56
|
+
email:
|
57
|
+
- dave@k-innovations.net
|
58
|
+
executables: []
|
59
|
+
extensions: []
|
60
|
+
extra_rdoc_files: []
|
61
|
+
files:
|
62
|
+
- ".gitignore"
|
63
|
+
- Gemfile
|
64
|
+
- LICENSE.txt
|
65
|
+
- README.md
|
66
|
+
- Rakefile
|
67
|
+
- lib/rotor.rb
|
68
|
+
- lib/rotor/motor.rb
|
69
|
+
- lib/rotor/version.rb
|
70
|
+
- rotor.gemspec
|
71
|
+
homepage: ''
|
72
|
+
licenses:
|
73
|
+
- MIT
|
74
|
+
metadata: {}
|
75
|
+
post_install_message:
|
76
|
+
rdoc_options: []
|
77
|
+
require_paths:
|
78
|
+
- lib
|
79
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
80
|
+
requirements:
|
81
|
+
- - ">="
|
82
|
+
- !ruby/object:Gem::Version
|
83
|
+
version: '0'
|
84
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
85
|
+
requirements:
|
86
|
+
- - ">="
|
87
|
+
- !ruby/object:Gem::Version
|
88
|
+
version: '0'
|
89
|
+
requirements: []
|
90
|
+
rubyforge_project:
|
91
|
+
rubygems_version: 2.4.5
|
92
|
+
signing_key:
|
93
|
+
specification_version: 4
|
94
|
+
summary: Ruby Gem for controlling Bipolar and Unipolar motors
|
95
|
+
test_files: []
|