rumba 0.2.5 → 0.2.6
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- checksums.yaml +4 -4
- data/README.md +10 -2
- data/lib/rumba.rb +1 -1
- data/lib/rumba/constants.rb +1 -1
- data/lib/rumba/dsl.rb +48 -33
- data/lib/rumba/sensors.rb +25 -20
- metadata +2 -2
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
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---
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SHA1:
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metadata.gz:
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data.tar.gz:
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metadata.gz: cfa29def9523b31571bf2081b0428dac3c4804ce
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data.tar.gz: e238032a3be080bae5b265ed7b3df1a5c6e9606f
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SHA512:
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metadata.gz:
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data.tar.gz:
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metadata.gz: c09e420f4645064408470c33493e805bb255b08198525f46870a8e172fb0f692294629ad18d1c3ab3f7d6e1f2cfc790ff7c707e921bdcc7f8e1a9513b9eb79b3
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data.tar.gz: 41110e7769d55452e58e4bcfa94aedf0586e7777edad55686a4b3b7fd139afd01d85121cc11da0550301c3f95fa75c798755202113d6f6c469591be88f7f127c
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data/README.md
CHANGED
@@ -20,6 +20,14 @@ Happy hacking!
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### Dependencies
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* [serialport](http://ruby-serialport.rubyforge.org/)
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### Installation
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Easy!
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```bash
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gem install rumba
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```
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### Usage
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Here's an example program:
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@@ -31,13 +39,13 @@ require 'rumba'
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Roomba.new('/dev/tty.usbserial') do
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safe_mode
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-
forward meter
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+
forward 1.meter
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rotate :left
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rotate -90 # degrees
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rotate :right
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rotate 90
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backward meter
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backward 1.meter
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# access to any methods in the Roomba class here!
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end
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data/lib/rumba.rb
CHANGED
data/lib/rumba/constants.rb
CHANGED
data/lib/rumba/dsl.rb
CHANGED
@@ -8,61 +8,57 @@ class Rumba
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# Radius of an average Roomba, used for calculating rotation
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RADIUS = 165.1 # 6.5 inches
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+
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# move both wheels at the same speed in a certain direction!
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# NOTE THAT THIS BLOCKS UNTIL COMPLETE
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def straight_distance(distance, speed: DEFAULT_SPEED)
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total = 0
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straight(speed)
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loop do
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total += get_sensor(:distance).abs
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break if total >= distance
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end
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halt
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end
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# distance is in mm!
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def forward(distance, speed: DEFAULT_SPEED)
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-
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straight(speed)
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sleep(duration)
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halt
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straight_distance(distance, speed: speed)
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end
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# distance is in mm!
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def backward(distance, speed: DEFAULT_SPEED)
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-
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straight(-speed)
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sleep(duration)
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halt
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straight_distance(distance, speed: -speed)
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end
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# Direction can either be a Fixnum for number of degrees,
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# or a symbol for the direction (:left, :right)
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def rotate(direction, speed: DEFAULT_SPEED)
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# handle symbols...
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# note that counter-clockwise is positive
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case direction
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when :left
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-
direction = -90
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when :right
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direction = 90
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when :right
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direction = -90
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end
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-
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direction > 0 ? spin_right(speed) : spin_left(speed)
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-
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-
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total = 0
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goal = direction.abs / 2
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loop do
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raw_angle = get_sensor(:angle)
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-
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-
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-
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-
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-
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-
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-
# MEASUREMENT HELPERS
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# TODO: break these out into separate helpers file?
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def inches(num)
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25.4 * num
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end
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alias_method :inch, :inches
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def feet(num)
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inches(num) * 12
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end
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alias_method :foot, :feet
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# taken from the official docs to convert output to degrees...
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degrees = (360 * raw_angle)/(258 * Math::PI)
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total += degrees.abs
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break if total >= goal
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end
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-
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num * 1000
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halt
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end
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alias_method :meter, :meters
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# eh, why not?
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alias_method :forwards, :forward
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alias_method :turn, :rotate
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end
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end
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# MEASUREMENT HELPERS
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class Fixnum
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def inches
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25.4 * self
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end
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alias_method :inch, :inches
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def feet
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self.inches * 12
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end
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alias_method :foot, :feet
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def meters
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self * 1000
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end
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alias_method :meter, :meters
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end
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data/lib/rumba/sensors.rb
CHANGED
@@ -4,7 +4,7 @@ class Rumba
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module Sensor
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class Boolean
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def self.convert(v)
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v == 1
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v == 1
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end
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end
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@@ -45,8 +45,8 @@ class Rumba
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class ChargingSourceAvailable
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def self.convert(v)
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h = {}
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h[:internal_charger] = v & 0b1 > 0
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h[:home_base] = v & 0b10 > 0
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h[:internal_charger] = v & 0b1 > 0
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h[:home_base] = v & 0b10 > 0
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h
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end
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end
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@@ -54,12 +54,12 @@ class Rumba
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class LightBumper
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def self.convert(v)
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h = {}
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h[:light_bumper_left] = v & 0b1 > 0
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h[:light_bumper_front_left] = v & 0b10 > 0
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h[:light_bumper_center_left] = v & 0b100 > 0
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h[:light_bumper_center_right] = v & 0b1000 > 0
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h[:light_bumper_front_right] = v & 0b10000 > 0
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h[:light_bumper_right] = v & 0b100000 > 0
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h[:light_bumper_left] = v & 0b1 > 0
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h[:light_bumper_front_left] = v & 0b10 > 0
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h[:light_bumper_center_left] = v & 0b100 > 0
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h[:light_bumper_center_right] = v & 0b1000 > 0
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h[:light_bumper_front_right] = v & 0b10000 > 0
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h[:light_bumper_right] = v & 0b100000 > 0
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h
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end
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end
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@@ -67,10 +67,10 @@ class Rumba
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class WheelOvercurrents
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def self.convert(v)
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h = {}
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h[:side_brush] = v & 0b1 > 0
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h[:main_brush] = v & 0b100 > 0
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h[:right_wheel] = v & 0b1000 > 0
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h[:left_wheel] = v & 0b10000 > 0
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h[:side_brush] = v & 0b1 > 0
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h[:main_brush] = v & 0b100 > 0
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h[:right_wheel] = v & 0b1000 > 0
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h[:left_wheel] = v & 0b10000 > 0
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h
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end
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end
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class BumpsAndWheelDrops
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def self.convert(v)
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h = {}
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h[:bump_right] = v & 0b1 > 0
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h[:bump_left] = v & 0b10 > 0
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h[:wheel_drop_right] = v & 0b100 > 0
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h[:wheel_drop_left] = v & 0b1000 > 0
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h[:bump_right] = v & 0b1 > 0
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h[:bump_left] = v & 0b10 > 0
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h[:wheel_drop_right] = v & 0b100 > 0
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h[:wheel_drop_left] = v & 0b1000 > 0
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h
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end
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@@ -282,15 +282,20 @@ class Rumba
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# Get sensors by list
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# Array entry can be packet ID or symbol
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def get_sensors_list(list)
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-
ids_list=
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ids_list = list.map { |l|
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if l.class == Symbol
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SENSORS_PACKETS_SYMBOL.find_index(l)
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else
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l
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end
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-
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}
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sensors_bytes_to_packets(write_chars_with_read([QUERY_LIST,ids_list.length]+ids_list),ids_list)
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sensors_bytes_to_packets(write_chars_with_read([Constants::QUERY_LIST,ids_list.length]+ids_list),ids_list)
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end
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# convenience method for grabbing a single sensor
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def get_sensor(sensor)
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get_sensors_list([sensor])[sensor]
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end
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end
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end
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metadata
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--- !ruby/object:Gem::Specification
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name: rumba
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version: !ruby/object:Gem::Version
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version: 0.2.
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version: 0.2.6
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platform: ruby
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authors:
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- Eric Wood
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autorequire:
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bindir: bin
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cert_chain: []
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date: 2014-
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date: 2014-08-26 00:00:00.000000000 Z
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dependencies:
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- !ruby/object:Gem::Dependency
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name: serialport
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