ruby-nxt 0.8.1

data/examples/drb_client.rb

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+#!/usr/bin/env ruby -w
+# example drb client
+
+require "drb"
+
+DRb.start_service
+@nxt = DRbObject.new(nil, 'druby://localhost:9000')
+
+puts @nxt.connected?
+@nxt.play_tone(500,500)
+puts @nxt.keep_alive

data/examples/drb_server.rb

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+#!/usr/bin/env ruby -w
+# example code showing how to make a drb server to communicate with nxt
+# it also spawns a thread that periodically calls keep_alive to prevent
+# the nxt from going to sleep
+
+require "drb"
+require "thread"
+require "nxt_comm"
+
+$DEBUG = false
+$DEV = '/dev/tty.NXT-DevB-1'
+$SAFE = 1 # disable eval() and friends
+
+class NXTServer
+  def initialize(dev=$DEV,port=9000)
+    @nxt = NXTComm.new(dev)
+    @last_keep_alive = Time.now
+    @keep_alive_time = 300
+
+    Thread.new do
+      DRb.start_service "druby://localhost:#{port}", @nxt
+      puts "NXTServer ready at: #{DRb.uri}"
+    end
+
+    Thread.new do
+      loop do
+        if Time.now - @last_keep_alive > @keep_alive_time / 2
+          @keep_alive_time = @nxt.keep_alive / 1000
+          puts "Sending next keep alive in #{@keep_alive_time / 2} seconds..."
+          @last_keep_alive = Time.now
+        end
+        # need small sleep time or DRb thread won't have time to fire
+        # I can't get it to work if I just sleep the keep_alive interval
+        sleep 1 
+      end
+    end.join # make thread block
+  end
+end
+
+server = NXTServer.new

data/examples/mary.rb

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+#!/usr/local/bin/ruby
+
+# Plays "Mary Had A Little Lamb"
+# Author: Christopher Continanza <christopher.continanza@villanova.edu>
+
+require "nxt_comm"
+
+$DEBUG = true
+
+def sleeper
+ sleep(0.5)
+end
+
+@nxt = NXTComm.new("/dev/tty.NXT-DevB-1")
+
+#E  D C   D E   E  E
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(523,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+sleeper
+#D  D   D     E   G  G
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(784,500)
+sleeper
+@nxt.play_tone(784,500)
+sleeper
+sleeper
+#E  D C   D E   E  E
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(523,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+#E    D      D   E     D  C
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(659,500)
+sleeper
+@nxt.play_tone(587,500)
+sleeper
+@nxt.play_tone(523,750)
+sleeper
+sleeper
+sleeper
+
+@nxt.close

data/examples/move_by_degrees.rb

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+#!/usr/bin/env ruby -w
+
+require "nxt_comm"
+
+$DEBUG = false
+
+@nxt = NXTComm.new('/dev/tty.NXT-DevB-1')
+@degrees = 360
+@motor = NXTComm::MOTOR_B
+
+# set the tacho_count = 0
+@nxt.reset_motor_position(@motor)
+
+puts @nxt.get_output_state(@motor).inspect
+
+# ramps up to (close to) requested degrees and then if no other command is sent, it will 
+# try to return to the requested degrees if force moves motor
+
+# have to start at least power = 1 to ramp up
+@nxt.set_output_state(@motor,1,NXTComm::MOTORON | NXTComm::BRAKE | NXTComm::REGULATED,
+  NXTComm::REGULATION_MODE_MOTOR_SPEED,0,NXTComm::MOTOR_RUN_STATE_RUNNING,0)
+
+# ramp up to the requested degrees
+@nxt.set_output_state(@motor,75,NXTComm::MOTORON | NXTComm::BRAKE | NXTComm::REGULATED,
+  NXTComm::REGULATION_MODE_MOTOR_SPEED,0,NXTComm::MOTOR_RUN_STATE_RAMPUP,@degrees)
+
+until @nxt.get_output_state(@motor)[:run_state] == NXTComm::MOTOR_RUN_STATE_IDLE
+  puts @nxt.get_output_state(@motor).inspect
+  sleep(0.5)
+end
+
+# abruptly break and use power to prevent movement
+# @nxt.set_output_state(@motor,0,NXTComm::MOTORON | NXTComm::BRAKE | NXTComm::REGULATED,
+# NXTComm::REGULATION_MODE_MOTOR_SPEED,0,NXTComm::MOTOR_RUN_STATE_RUNNING,0)
+
+# coast to a stop and allow force to move motor
+# @nxt.set_output_state(@motor,0,NXTComm::COAST,
+#   NXTComm::REGULATION_MODE_IDLE,0,NXTComm::MOTOR_RUN_STATE_IDLE,0)
+
+puts @nxt.get_output_state(@motor).inspect
+
+@nxt.close

data/examples/nxt_comm_demo.rb

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+#!/usr/local/bin/ruby
+
+require "nxt_comm"
+
+$DEBUG = false
+
+@nxt = NXTComm.new("/dev/tty.NXT-DevB-1")
+# puts "Connected!"
+# 
+# puts "Starting program"
+# @nxt.start_program("Try-Touch.rtm")
+# sleep(3)
+# puts "Currently running: " + @nxt.get_current_program_name
+# puts "Stopping program"
+# @nxt.stop_program
+# 
+# @nxt.play_sound_file("Good Job.rso")
+
+@nxt.play_tone(500,500)
+
+# @nxt.set_output_state(
+#   NXTComm::MOTOR_A,
+#   100,
+#   NXTComm::REGULATED,
+#   NXTComm::REGULATION_MODE_MOTOR_SPEED,
+#   100,
+#   NXTComm::MOTOR_RUN_STATE_RUNNING,
+#   0
+# )
+# sleep(3)
+# @nxt.set_output_state(
+#   NXTComm::MOTOR_A,
+#   100,
+#   NXTComm::BRAKE,
+#   NXTComm::REGULATION_MODE_MOTOR_SPEED,
+#   0,
+#   NXTComm::MOTOR_RUN_STATE_RAMPDOWN,
+#   0
+# )
+
+# set_input_mode(port,type,mode)
+# @nxt.set_input_mode(NXTComm::SENSOR_3,NXTComm::LIGHT_INACTIVE,NXTComm::RAWMODE)
+# while true
+#   s = @nxt.get_input_values(NXTComm::SENSOR_3)
+#   puts s.inspect
+#   sleep(1)
+# end
+
+# puts @nxt.get_output_state(NXTComm::MOTOR_B).inspect
+
+# puts @nxt.get_input_values(NXTComm::SENSOR_1).inspect
+
+# @nxt.reset_input_scaled_value(NXTComm::SENSOR_1)
+
+# @nxt.message_write(1,"Chunky Robotic Bacon!")
+
+# @nxt.reset_motor_position(NXTComm::MOTOR_B)
+
+# puts "Battery Level: #{@nxt.get_battery_level/1000.0} V"
+
+#@nxt.play_sound_file("Woops.rso",true)
+#sleep(2)
+#@nxt.stop_sound_playback
+
+@nxt.close

data/examples/nxt_remote_control.rb

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+#!/usr/bin/env ruby
+
+require "tk"
+require "nxt"
+
+class NXTRemoteControl
+  
+  def initialize
+    @nxt  = NXTComm.new($DEV)
+    ph    = { 'padx' => 10, 'pady' => 10 }
+    root  = TkRoot.new { title "NXT Remote Control" }
+    top   = TkFrame.new(root)
+    
+    _forward   = proc{forward}
+    _backward  = proc{backward}
+    _left      = proc{left}
+    _right     = proc{right}
+    _stop      = proc{stop}
+    
+    @text = TkVariable.new
+    @entry = TkEntry.new(top, 'textvariable' => @text)
+    @entry.pack(ph)
+    
+    TkButton.new(top) {text 'Forward'; command _forward; pack ph}
+    TkButton.new(top) {text 'Backward'; command _backward; pack ph}
+    TkButton.new(top) {text 'Left'; command _left; pack ph}
+    TkButton.new(top) {text 'Right'; command _right; pack ph}
+    TkButton.new(top) {text 'Stop'; command _stop; pack ph}
+
+    TkButton.new(top) {text 'Exit'; command {proc exit}; pack ph}
+
+    top.pack('fill'=>'both', 'side' =>'top')
+  end
+
+  def forward
+    @text.value = "Moving forward..."
+    @m = Commands::Move.new(@nxt)
+    @m.start
+  end
+  
+  def backward
+    @text.value = "Moving backward..."
+    @m = Commands::Move.new(@nxt)
+    @m.direction = :backward
+    @m.start
+  end
+  
+  def left
+    @text.value = "Turning left"
+    @m = Commands::Move.new(@nxt)
+    @m.steering = :left
+    @m.start
+  end
+  
+  def right
+    @text.value = "Turning right"
+    @m = Commands::Move.new(@nxt)
+    @m.steering = :right
+    @m.start
+  end
+  
+  def stop
+    @text.value = "Stopping"
+    @m = Commands::Move.new(@nxt)
+    @m.stop
+  end
+end
+
+NXTRemoteControl.new
+Tk.mainloop

data/examples/socket_server.rb

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+#!/usr/bin/env ruby -w
+# example code showing how to make a socket server to communicate with nxt
+# To use it via telnet:
+#   telnet localhost 3001
+#   type forward then enter
+
+require "socket"
+require "nxt_comm"
+
+$DEBUG = true
+
+@port = (ARGV[0] || 3001).to_i
+@server = TCPServer.new('localhost', @port)
+@nxt = NXTComm.new('/dev/tty.NXT-DevB-1')
+
+@move = Commands::Move.new(@nxt)
+
+puts "Ready."
+
+while (@session = @server.accept)
+  
+  @request = @session.gets
+  
+  puts "Request: #{@request}"
+
+  case @request.chomp
+    when "forward"
+      @move.start
+    when "stop"
+      @move.stop
+    else
+      @session.puts "Unknown request: #{@request}"
+  end
+  
+  @session.close
+  
+end

data/lib/autodetect_nxt.rb

@@ -0,0 +1,36 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+
+# This script attempts to automatically set the global $DEV variable
+# by searching for a NXT tty device node.
+
+# TODO: This curently only works on *nix based systems (MacOS X too!)
+#       I don't know how to implement this for Win32 :(
+
+# If there is an NXT or DEV environment variable, or a $DEV global,
+# we'll use that and not try to auto-set it ourselves.
+$DEV = $DEV || ENV['NXT'] || ENV['DEV']
+
+unless $DEV or ENV['NXT'] or ENV['DEV']
+	begin
+		devices = Dir["/dev/*NXT*"]
+		$DEV = devices[0] if devices.size > 0
+		puts "Auto-detected NXT at #{$DEV}"
+	rescue
+		# the /dev directory probably doesn't exist... maybe we're on Win32?
+	end
+end

data/lib/brick.rb

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+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+require "yaml"
+require "logger"
+require "nxt_comm"
+
+#Logger::Formatter::Format = "%s, [%s#%d] %5s -- %s:\n%s\n"
+
+# Abstract parent class of motor and sensor bricks.
+# Currently provides only very basic common functionality but may
+# be expanded in the future.
+class Brick
+
+  attr_reader :port
+  attr_reader :log
+
+  def initialize(nxt, port)
+    logfile = File.expand_path(File.dirname(File.expand_path(__FILE__)))+"/../log/#{self.class}_#{port}.log"
+    @log = Logger.new logfile
+    @log.level = Logger::DEBUG
+    #puts "Logging to #{logfile}"
+
+    debug("#{self.class}::#{nxt}(#{port})", :initialize)
+
+    @nxt = nxt
+  end
+
+  private
+    def debug(msg, method = false)
+      @log.info(method) do 
+        if msg.kind_of? String
+          msg
+        else
+          msg.to_yaml
+        end
+      end
+    end
+
+end

data/lib/commands.rb

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+# Command object based interface that implements the "blocks" in NXT-G.  This should
+# be easy to understand if you are familiar with the NXT-G graphical programming
+# system.  This is automatically included in NXTComm.
+#
+# === Example
+#
+#   require 'nxt_comm'
+# 
+#   @nxt = NXTComm.new('/dev/tty.NXT-DevB-1')
+#
+#   # more examples can be found in examples/commands.rb
+#
+#   us = Commands::UltrasonicSensor.new(@nxt)
+#   us.mode = :centimeters
+#   puts "Distance: #{us.distance}cm"
+#   us.mode = :inches
+#   puts "Distance: #{us.distance}in"
+# 
+#   us.comparison = "<"
+#   us.trigger_point = 5
+# 
+#   while us.logic == false
+#     sleep(0.5)
+#     puts "Move #{us.comparison} #{us.trigger_point} #{us.mode} from the sensor..."
+#     puts "Distance: #{us.distance}in"
+#   end
+# 
+#   puts "Got it!"
+#
+module Commands
+  require 'commands/move'
+  require 'commands/sound'
+  require 'commands/motor'
+  
+  require 'commands/touch_sensor'
+  require 'commands/sound_sensor'
+  require 'commands/light_sensor'
+  require 'commands/ultrasonic_sensor'
+  require 'commands/rotation_sensor'
+end