rumba 0.1.0
Sign up to get free protection for your applications and to get access to all the features.
- checksums.yaml +7 -0
- data/lib/rumba.rb +193 -0
- metadata +58 -0
checksums.yaml
ADDED
@@ -0,0 +1,7 @@
|
|
1
|
+
---
|
2
|
+
SHA1:
|
3
|
+
metadata.gz: 115b8d8b186d7f86152bbff988ac8b0fae8fcc39
|
4
|
+
data.tar.gz: ba6345f5aaaf814e2c4a10aa55b2493c26cd7e4d
|
5
|
+
SHA512:
|
6
|
+
metadata.gz: f71cc909ed9079bb10054cdd86b972e9fa1daa5d7561fdb4d97796829bdd3aefbed720eedd63140be9388c2bed6957ceb0cdce642a4aa5146dae77724d3965ce
|
7
|
+
data.tar.gz: 9eb5465a3e7dbaca2e72b782a07955420edf819ceaab878090867cbc754924e9dcf7238a84517c4730b94f8be4aaf57ae9741da2dfdc743c948c2a15f10361b7
|
data/lib/rumba.rb
ADDED
@@ -0,0 +1,193 @@
|
|
1
|
+
require 'rubygems'
|
2
|
+
require 'serialport'
|
3
|
+
require 'timeout'
|
4
|
+
|
5
|
+
class Roomba
|
6
|
+
# These opcodes require no arguments
|
7
|
+
OPCODES = {
|
8
|
+
start: 128,
|
9
|
+
control: 130,
|
10
|
+
dock: 143,
|
11
|
+
play_script: 153,
|
12
|
+
show_script: 154
|
13
|
+
}
|
14
|
+
|
15
|
+
# Create a method for each opcode that writes its data.
|
16
|
+
# This allows us to simply call roomba.code,
|
17
|
+
# and it's a cool excuse to do some metaprogramming :)
|
18
|
+
OPCODES.each do |name,val|
|
19
|
+
send :define_method, name do
|
20
|
+
write_chars([val])
|
21
|
+
end
|
22
|
+
end
|
23
|
+
|
24
|
+
SAFE_MODE = 131
|
25
|
+
FULL_MODE = 132
|
26
|
+
|
27
|
+
# These opcodes require arguments
|
28
|
+
DRIVE = 137
|
29
|
+
LEDS = 139
|
30
|
+
SONG = 140
|
31
|
+
PLAY_SONG = 141
|
32
|
+
DRIVE_DIRECT = 145
|
33
|
+
|
34
|
+
# Used for making the Roomba sing!
|
35
|
+
# Note that nil is simply a rest
|
36
|
+
NOTES = {
|
37
|
+
'A' => 69, 'A#' => 70, 'B' => 71, 'C' => 72, 'C#' => 73, 'D' => 74,
|
38
|
+
'D#' => 75, 'E' => 76, 'F' => 77, 'F#' => 78, 'G' => 79, 'G#' => 80,
|
39
|
+
nil => 0
|
40
|
+
}
|
41
|
+
|
42
|
+
#############################################################################
|
43
|
+
# HELPERS #
|
44
|
+
#############################################################################
|
45
|
+
|
46
|
+
# Converts input data (an array) into bytes before
|
47
|
+
# sending it over the serial connection.
|
48
|
+
def write_chars(data);
|
49
|
+
data.map! do |c|
|
50
|
+
if c.class == String
|
51
|
+
result = c.bytes.to_a.map { |b| [b].pack("C") }
|
52
|
+
else
|
53
|
+
result = [c].pack("C")
|
54
|
+
end
|
55
|
+
|
56
|
+
result
|
57
|
+
end
|
58
|
+
|
59
|
+
data = data.flatten.join
|
60
|
+
|
61
|
+
@serial.write(data)
|
62
|
+
@serial.flush
|
63
|
+
end
|
64
|
+
|
65
|
+
# Convert integer to two's complement signed 16 bit integer.
|
66
|
+
# Note that the Roomba is big-endian...I need to fix this
|
67
|
+
# code to make it portable across different architectures.
|
68
|
+
def convert_int(int)
|
69
|
+
[int].pack('s').reverse
|
70
|
+
end
|
71
|
+
|
72
|
+
#############################################################################
|
73
|
+
# COMMANDS #
|
74
|
+
#############################################################################
|
75
|
+
|
76
|
+
def safe_mode
|
77
|
+
write_chars([SAFE_MODE])
|
78
|
+
sleep(0.2)
|
79
|
+
end
|
80
|
+
|
81
|
+
def full_mode
|
82
|
+
safe_mode
|
83
|
+
write_chars([FULL_MODE])
|
84
|
+
sleep(0.2)
|
85
|
+
end
|
86
|
+
|
87
|
+
def drive(velocity, radius)
|
88
|
+
raise RangeError if velocity < -500 || velocity > 500
|
89
|
+
raise RangeError if (radius < -2000 || radius > 2000) && radius != 0xFFFF
|
90
|
+
|
91
|
+
velocity = convert_int(velocity)
|
92
|
+
radius = convert_int(radius)
|
93
|
+
write_chars([DRIVE, velocity, radius])
|
94
|
+
end
|
95
|
+
|
96
|
+
def drive_direct(left, right)
|
97
|
+
raise RangeError if left < -500 || left > 500
|
98
|
+
raise RangeError if right < -500 || right > 500
|
99
|
+
|
100
|
+
left = convert_int(left)
|
101
|
+
right = convert_int(right)
|
102
|
+
|
103
|
+
write_chars([DRIVE_DIRECT])
|
104
|
+
write_raw([right, left])
|
105
|
+
end
|
106
|
+
|
107
|
+
# Turn LEDs on and off
|
108
|
+
# Arguments are a hash in the following format:
|
109
|
+
# :advance => true/false | sets the "advance" LED (the >> one)
|
110
|
+
# :play => true/false | sets the "play" LED (the > one)
|
111
|
+
# :color => 0-255 | sets the color of the power LED (0 = green, 255 = red)
|
112
|
+
# :intensity => 0-255 | sets the intensity of the power LED (0 = off)
|
113
|
+
def set_leds(args)
|
114
|
+
@leds[:advance] = args[:advance] unless args[:advance].nil?
|
115
|
+
@leds[:play] = args[:play] unless args[:play].nil?
|
116
|
+
@leds[:color] = args[:color] unless args[:color].nil?
|
117
|
+
@leds[:intensity] = args[:intensity] unless args[:intensity].nil?
|
118
|
+
led_bits = 0b00000000
|
119
|
+
led_bits |= 0b00001000 if @leds[:advance]
|
120
|
+
led_bits |= 0b00000010 if @leds[:play]
|
121
|
+
|
122
|
+
write_chars([LEDS, led_bits, @leds[:color], @leds[:intensity]])
|
123
|
+
end
|
124
|
+
|
125
|
+
# Songs are cool. Here's the format:
|
126
|
+
# The song number designates which song this is so you can recall it later.
|
127
|
+
# The notes are specified in the NOTES hash, and are fed into the program
|
128
|
+
# as a 2D array, where the first element is the note number and the second
|
129
|
+
# is the duration of the note. The duration is specified in seconds.
|
130
|
+
# Example:
|
131
|
+
# [[note1,5], [note2,6]]
|
132
|
+
def song(song_number, notes)
|
133
|
+
raise RangeError if song_number < 0 || song_number > 15
|
134
|
+
|
135
|
+
notes.map! { |n| [NOTES[n[0]],n[1]*64] }
|
136
|
+
# The protocol requires us to send the number of notes and the song number first
|
137
|
+
write_chars([SONG, song_number, notes.size] + notes.flatten)
|
138
|
+
end
|
139
|
+
|
140
|
+
def play_song(song_number)
|
141
|
+
raise RangeError if song_number < 0 || song_number > 15
|
142
|
+
write_chars([PLAY_SONG,song_number])
|
143
|
+
end
|
144
|
+
|
145
|
+
#############################################################################
|
146
|
+
# Convenience methods #
|
147
|
+
#############################################################################
|
148
|
+
|
149
|
+
def straight(speed)
|
150
|
+
speed = convert_int(speed)
|
151
|
+
write_chars([DRIVE, speed, convert_int(32768)])
|
152
|
+
end
|
153
|
+
|
154
|
+
def spin_left(speed)
|
155
|
+
speed = convert_int(speed)
|
156
|
+
write_chars([DRIVE, speed, convert_int(1)])
|
157
|
+
end
|
158
|
+
|
159
|
+
def spin_right(speed)
|
160
|
+
speed = convert_int(speed)
|
161
|
+
write_chars([DRIVE, speed, convert_int(-1)])
|
162
|
+
end
|
163
|
+
|
164
|
+
def lights
|
165
|
+
write_chars([139, 9, 0, 128])
|
166
|
+
end
|
167
|
+
|
168
|
+
def halt
|
169
|
+
drive(0,0)
|
170
|
+
end
|
171
|
+
|
172
|
+
def power_off
|
173
|
+
@serial.close
|
174
|
+
end
|
175
|
+
|
176
|
+
def initialize(port, timeout=10)
|
177
|
+
@leds = {
|
178
|
+
advance: false,
|
179
|
+
play: false,
|
180
|
+
color: 0,
|
181
|
+
intensity: 0
|
182
|
+
}
|
183
|
+
|
184
|
+
@timeout = timeout
|
185
|
+
Timeout::timeout(@timeout) do
|
186
|
+
# Initialize the serialport
|
187
|
+
@serial = SerialPort.new(port, 57600)
|
188
|
+
@serial.read_timeout = 1000
|
189
|
+
self.start
|
190
|
+
end
|
191
|
+
end
|
192
|
+
end
|
193
|
+
|
metadata
ADDED
@@ -0,0 +1,58 @@
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
2
|
+
name: rumba
|
3
|
+
version: !ruby/object:Gem::Version
|
4
|
+
version: 0.1.0
|
5
|
+
platform: ruby
|
6
|
+
authors:
|
7
|
+
- Eric Wood
|
8
|
+
autorequire:
|
9
|
+
bindir: bin
|
10
|
+
cert_chain: []
|
11
|
+
date: 2014-05-27 00:00:00.000000000 Z
|
12
|
+
dependencies:
|
13
|
+
- !ruby/object:Gem::Dependency
|
14
|
+
name: serialport
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
16
|
+
requirements:
|
17
|
+
- - ">="
|
18
|
+
- !ruby/object:Gem::Version
|
19
|
+
version: '0'
|
20
|
+
type: :runtime
|
21
|
+
prerelease: false
|
22
|
+
version_requirements: !ruby/object:Gem::Requirement
|
23
|
+
requirements:
|
24
|
+
- - ">="
|
25
|
+
- !ruby/object:Gem::Version
|
26
|
+
version: '0'
|
27
|
+
description: Control your Roomba using Ruby!
|
28
|
+
email: eric@ericwood.org
|
29
|
+
executables: []
|
30
|
+
extensions: []
|
31
|
+
extra_rdoc_files: []
|
32
|
+
files:
|
33
|
+
- lib/rumba.rb
|
34
|
+
homepage: http://github.com/eric-wood/roomba
|
35
|
+
licenses:
|
36
|
+
- BSD
|
37
|
+
metadata: {}
|
38
|
+
post_install_message:
|
39
|
+
rdoc_options: []
|
40
|
+
require_paths:
|
41
|
+
- lib
|
42
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
43
|
+
requirements:
|
44
|
+
- - ">="
|
45
|
+
- !ruby/object:Gem::Version
|
46
|
+
version: '0'
|
47
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
48
|
+
requirements:
|
49
|
+
- - ">="
|
50
|
+
- !ruby/object:Gem::Version
|
51
|
+
version: '0'
|
52
|
+
requirements: []
|
53
|
+
rubyforge_project:
|
54
|
+
rubygems_version: 2.2.2
|
55
|
+
signing_key:
|
56
|
+
specification_version: 4
|
57
|
+
summary: Ruby bindings for the iRobot Roomba
|
58
|
+
test_files: []
|