rumba 0.2.5 → 0.2.6

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -20,6 +20,14 @@ Happy hacking!
 ### Dependencies
 * [serialport](http://ruby-serialport.rubyforge.org/)
 
+### Installation
+
+Easy!
+
+```bash
+gem install rumba
+```
+
 ### Usage
 
 Here's an example program:
@@ -31,13 +39,13 @@ require 'rumba'
 
 Roomba.new('/dev/tty.usbserial') do
   safe_mode
-  forward meter(1)
+  forward 1.meter
   rotate :left
   rotate -90 # degrees
 
   rotate :right
   rotate 90
-  backward meter(1)
+  backward 1.meter
 
   # access to any methods in the Roomba class here!
 end

data/lib/rumba.rb

@@ -50,7 +50,7 @@ class Rumba
     data = data.flatten.join
     
     @serial.write(data)
-    sleep(0.1)
+    sleep(0.05)
     data=""
     while(data.length==0)
       data += @serial.read

data/lib/rumba/constants.rb

@@ -35,7 +35,7 @@ class Rumba
     SONG         = 140
     PLAY_SONG    = 141
     SENSORS      = 142
-    QUERY_LIST      = 149
+    QUERY_LIST   = 149
     DRIVE_DIRECT = 145
 
     # Used for making the Roomba sing!

data/lib/rumba/dsl.rb

@@ -8,61 +8,57 @@ class Rumba
 
     # Radius of an average Roomba, used for calculating rotation
     RADIUS = 165.1 # 6.5 inches
+
+    # move both wheels at the same speed in a certain direction!
+    # NOTE THAT THIS BLOCKS UNTIL COMPLETE
+    def straight_distance(distance, speed: DEFAULT_SPEED)
+      total = 0
+      straight(speed)
+      loop do
+        total += get_sensor(:distance).abs
+        break if total >= distance
+      end
+
+      halt
+    end
     
     # distance is in mm!
     def forward(distance, speed: DEFAULT_SPEED)
-      duration = distance / speed
-      straight(speed)
-      sleep(duration)
-      halt
+      straight_distance(distance, speed: speed)
     end
 
     # distance is in mm!
     def backward(distance, speed: DEFAULT_SPEED)
-      duration = distance / speed
-      straight(-speed)
-      sleep(duration)
-      halt
+      straight_distance(distance, speed: -speed)
     end
 
     # Direction can either be a Fixnum for number of degrees,
     # or a symbol for the direction (:left, :right)
     def rotate(direction, speed: DEFAULT_SPEED)
       # handle symbols...
+      # note that counter-clockwise is positive
       case direction
         when :left
-          direction = -90
-        when :right
           direction = 90
+        when :right
+          direction = -90
       end
 
-      circumfrence = 2 * Math::PI * RADIUS
+      direction > 0 ? spin_right(speed) : spin_left(speed)
 
-      # based on the angle, this is how far we need to turn
-      distance = ((circumfrence / 360) * direction).abs
+      total = 0
+      goal  = direction.abs / 2
+      loop do
+        raw_angle = get_sensor(:angle)
 
-      direction < 0 ? spin_left(speed) : spin_right(speed)
-      duration = (distance / speed).abs
-      sleep(duration)
-      halt
-    end
-
-    # MEASUREMENT HELPERS
-    # TODO: break these out into separate helpers file?
-    def inches(num)
-      25.4 * num
-    end
-    alias_method :inch, :inches
-
-    def feet(num)
-      inches(num) * 12
-    end
-    alias_method :foot, :feet
+        # taken from the official docs to convert output to degrees...
+        degrees = (360 * raw_angle)/(258 * Math::PI)
+        total += degrees.abs
+        break if total >= goal
+      end
 
-    def meters(num)
-      num * 1000
+      halt
     end
-    alias_method :meter, :meters
 
     # eh, why not?
     alias_method :forwards, :forward
@@ -70,3 +66,22 @@ class Rumba
     alias_method :turn, :rotate
   end
 end
+
+# MEASUREMENT HELPERS
+class Fixnum
+  def inches
+    25.4 * self
+  end
+  alias_method :inch, :inches
+
+  def feet
+    self.inches * 12
+  end
+  alias_method :foot, :feet
+
+  def meters
+    self * 1000
+  end
+  alias_method :meter, :meters
+end
+

data/lib/rumba/sensors.rb

@@ -4,7 +4,7 @@ class Rumba
   module Sensor
     class Boolean
       def self.convert(v)
-        v == 1 ? true : false
+        v == 1
       end
     end
 
@@ -45,8 +45,8 @@ class Rumba
     class ChargingSourceAvailable
       def self.convert(v)
         h = {}
-        h[:internal_charger] = v & 0b1 > 0  ? true : false
-        h[:home_base]        = v & 0b10 > 0 ? true : false
+        h[:internal_charger] = v & 0b1 > 0
+        h[:home_base]        = v & 0b10 > 0
         h
       end
     end
@@ -54,12 +54,12 @@ class Rumba
     class LightBumper
       def self.convert(v)
         h = {}
-        h[:light_bumper_left]         = v & 0b1 > 0      ? true : false
-        h[:light_bumper_front_left]   = v & 0b10 > 0     ? true : false
-        h[:light_bumper_center_left]  = v & 0b100 > 0    ? true : false
-        h[:light_bumper_center_right] = v & 0b1000 > 0   ? true : false
-        h[:light_bumper_front_right]  = v & 0b10000 > 0  ? true : false
-        h[:light_bumper_right]        = v & 0b100000 > 0 ? true : false
+        h[:light_bumper_left]         = v & 0b1 > 0
+        h[:light_bumper_front_left]   = v & 0b10 > 0
+        h[:light_bumper_center_left]  = v & 0b100 > 0
+        h[:light_bumper_center_right] = v & 0b1000 > 0
+        h[:light_bumper_front_right]  = v & 0b10000 > 0
+        h[:light_bumper_right]        = v & 0b100000 > 0
         h
       end
     end
@@ -67,10 +67,10 @@ class Rumba
     class WheelOvercurrents
       def self.convert(v)
         h = {}
-        h[:side_brush]  = v & 0b1     > 0 ? true : false
-        h[:main_brush]  = v & 0b100   > 0 ? true : false
-        h[:right_wheel] = v & 0b1000  > 0 ? true : false
-        h[:left_wheel]  = v & 0b10000 > 0 ? true : false
+        h[:side_brush]  = v & 0b1     > 0
+        h[:main_brush]  = v & 0b100   > 0
+        h[:right_wheel] = v & 0b1000  > 0
+        h[:left_wheel]  = v & 0b10000 > 0
         h
       end
     end
@@ -78,10 +78,10 @@ class Rumba
     class BumpsAndWheelDrops
       def self.convert(v)
         h = {}
-        h[:bump_right]       = v & 0b1 > 0    ? true : false
-        h[:bump_left]        = v & 0b10 > 0   ? true : false
-        h[:wheel_drop_right] = v & 0b100 > 0  ? true : false
-        h[:wheel_drop_left]  = v & 0b1000 > 0 ? true : false
+        h[:bump_right]       = v & 0b1 > 0
+        h[:bump_left]        = v & 0b10 > 0
+        h[:wheel_drop_right] = v & 0b100 > 0
+        h[:wheel_drop_left]  = v & 0b1000 > 0
         h
       end
 
@@ -282,15 +282,20 @@ class Rumba
     # Get sensors by list
     # Array entry can be packet ID or symbol
     def get_sensors_list(list)
-      ids_list=(list.map do |l|
+      ids_list = list.map { |l|
         if l.class == Symbol
           SENSORS_PACKETS_SYMBOL.find_index(l)
         else
           l
         end
-      end)
+      }
 
-      sensors_bytes_to_packets(write_chars_with_read([QUERY_LIST,ids_list.length]+ids_list),ids_list)
+      sensors_bytes_to_packets(write_chars_with_read([Constants::QUERY_LIST,ids_list.length]+ids_list),ids_list)
+    end
+
+    # convenience method for grabbing a single sensor
+    def get_sensor(sensor)
+      get_sensors_list([sensor])[sensor]
     end
   end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rumba
 version: !ruby/object:Gem::Version
-  version: 0.2.5
+  version: 0.2.6
 platform: ruby
 authors:
 - Eric Wood
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-05-27 00:00:00.000000000 Z
+date: 2014-08-26 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: serialport