smalrubot 0.0.2 → 0.0.3

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: d8c5524cac06724e181f71cccf31f0d06cae2d0c
-  data.tar.gz: 9c652f66ed763b167ea638acb9db33d6da93e8c5
+  metadata.gz: 642c4e0694f576d6a69d08cec9b88262e6b29da0
+  data.tar.gz: 424fcb96c73280e5910923462386932739104b29
 SHA512:
-  metadata.gz: 978c66f080b78fc21c1f25d5dfe36db9c29c1638ef6d716c0ef16efe400fcc98e10372ad4a8a76abfa686b183fe256f2564b288cd046b45578f33f8ca817cdc2
-  data.tar.gz: 81cae31984c60a1ce5a960ea8e95a308c872ea10870a21da0dd10cf4247b7b57162ab6139866d06dc30540106330a851fed49dedd99d41315e37c0ae885182e2
+  metadata.gz: 1dd5f9fdef4308f4dc800f838d232283ca95a128a4e348e56b26f073e6f16d1da85557355989cc0be54bffb39deb5580a6d089a02983b882b7fe1449ebe56f07
+  data.tar.gz: c40522501b506db212fb971db73f3b622fe70e15e32cd9106b3cc262ad131843d79bb7029a3156f7c27a3e04127dbf1c9ba1a6661ecc0690a1ab30ae66f7f271

data/.gitignore

@@ -20,3 +20,4 @@ test/tmp
 test/version_tmp
 tmp
 /sr
+/sr_studu

data/bin/smalrubot

@@ -14,7 +14,11 @@ def usage
   $stderr.puts "Usage: #{File.basename($0)} COMMAND [command-specific-options]"
   $stderr.puts
   $stderr.puts "Commands:"
-  $stderr.puts "  generate-sketch [options]"
+  $stderr.puts "  generate-sketch SKETCH [options]"
+  $stderr.puts
+  $stderr.puts "    Sketches:"
+  $stderr.puts "      sr"
+  $stderr.puts "      sr_studu"
   $stderr.puts
   $stderr.puts "    Options:"
   $stderr.puts "      --baud BAUD"
@@ -25,11 +29,15 @@ end
 
 # Command must be the first argument.
 $options[:command] = ARGV.shift
-usage if $options[:command].match /help/
+usage if !$options[:command] || $options[:command].match(/help/)
 
 # Parse the rest loosely.
 loop do
   case ARGV[0]
+    when 'sr'
+      $options[:sketch_names] << ARGV.shift
+    when 'sr_studu'
+      $options[:sketch_names] << ARGV.shift
     when '--baud'
       ARGV.shift; $options[:baud] = ARGV.shift
     when '--debug'
@@ -40,12 +48,10 @@ loop do
   end
 end
 
-$options[:sketch_names] = ['sr']
-
 error "Invalid command '#{$options[:command]}'" unless $options[:command] == "generate-sketch"
 error "No sketches or invalid sketches specified" if $options[:sketch_names].empty?
 
-$options[:sketch_names].each do |sketch_name|
+$options[:sketch_names].uniq.each do |sketch_name|
   # Define the sources.
   sketch_dir = sketch_name
   sketch_file = sketch_name + ".ino"
@@ -61,7 +67,7 @@ $options[:sketch_names].each do |sketch_name|
 
   # Modify them based on the arguments.
   if $options[:baud]
-    sketch.gsub! "115200", $options[:baud]
+    sketch.gsub! "19200", $options[:baud]
   end
   if $options[:debug]
     header.gsub! "// #define debug true", "#define debug true"
@@ -79,4 +85,10 @@ $options[:sketch_names].each do |sketch_name|
   File.open(dest_header, 'w')         { |f| f.write header }
   File.open(dest_implementation, 'w') { |f| f.write implementation }
   File.open(dest_sketch, 'w')         { |f| f.write sketch }
+
+  if sketch_name == 'sr_studu'
+    %w(SrStuduino.cpp SrStuduino.h).each do |name|
+      FileUtils.cp(File.join(src_dir, 'lib', name), File.join(dest_dir, name))
+    end
+  end
 end

data/examples/test.rb

@@ -5,7 +5,7 @@ board = Smalrubot::Board.new(Smalrubot::TxRx::Serial.new)
 
 =begin
 board.digital_write(13, 255)
-sleep(1)
+sleep(5)
 board.digital_write(13, 0)
 =end
 

data/lib/smalrubot/board/studuino.rb

@@ -0,0 +1,33 @@
+module Smalrubot
+  class Board
+    # namespace for Studuino
+    module Studuino
+      PORT_M1 = 0
+      PORT_M2 = 1
+
+      PORT_A0 = 0
+      PORT_A1 = 1
+      PORT_A2 = 2
+      PORT_A3 = 3
+      PORT_A4 = 4
+      PORT_A5 = 5
+      PORT_A6 = 6
+      PORT_A7 = 7
+
+      PIDOPEN = 0
+      PIDLED = 1
+      PIDBUZZER = 2
+      PIDLIGHTSENSOR = 3
+      PIDSOUNDSENSOR = 4
+      PIDIRPHOTOREFLECTOR = 5
+      PIDACCELEROMETER = 6
+      PIDTOUCHSENSOR = 7
+      PIDPUSHSWITCH = 8
+
+      NORMAL = 0
+      REVERSE = 1
+      BRAKE = 2
+      COAST = 3
+    end
+  end
+end

data/lib/smalrubot/board.rb

@@ -38,7 +38,14 @@ module Smalrubot
       digital_write:   '01',
       analog_write:    '03',
       servo_toggle:    '08',
-      servo_write:     '09'
+      servo_write:     '09',
+
+      set_dc_motor_calibration: '20',
+      init_dc_motor_port: '22',
+      init_sensor_port: '25',
+
+      dc_motor_power: '42',
+      dc_motor_control: '43',
     }
 
     WRITE_COMMANDS.each_key do |command|
@@ -51,6 +58,10 @@ module Smalrubot
     READ_COMMANDS = {
       digital_read:    '02',
       analog_read:     '04',
+
+      get_touch_sensor_value: '61',
+      get_light_sensor_value: '62',
+      get_ir_photoreflector_value: '64',
     }
 
     READ_COMMANDS.each_key do |command|

data/lib/smalrubot/tx_rx/serial.rb

@@ -3,7 +3,7 @@ require 'rubyserial'
 module Smalrubot
   module TxRx
     class Serial < Base
-      BAUD = 115200
+      BAUD = 19_200
 
       def initialize(options={})
         @device = options[:device]
@@ -25,7 +25,9 @@ module Smalrubot
             return super
           rescue BoardNotFound
             @tty_devices.shift
-            @io.close
+            if @io
+              @io.close
+            end
             @io = nil
           end
         end

data/lib/smalrubot/version.rb

@@ -1,3 +1,3 @@
 module Smalrubot
-  VERSION =  '0.0.2'
+  VERSION =  '0.0.3'
 end

data/lib/smalrubot.rb

@@ -2,6 +2,7 @@ require 'smalrubot/board_not_found'
 require 'smalrubot/version'
 require 'smalrubot/tx_rx'
 require 'smalrubot/board'
+require 'smalrubot/board/studuino'
 require 'smalrubot/components'
 
 module Smalrubot

data/sketch/lib/Smalrubot.cpp

@@ -33,6 +33,19 @@ void Smalrubot::process() {
    Serial.print("Value - ");            Serial.println(valStr);
   #endif
 
+  processCommand();
+  
+  // Write the response.
+  if (response[0] != '\0') writeResponse();
+  
+  #ifdef debug
+   Serial.print("Responded with - "); Serial.println(response);
+   Serial.println();
+  #endif
+}
+
+
+void Smalrubot::processCommand() {
   // Call the command.
   switch(cmd) {
     case 0:  setMode             ();  break;
@@ -45,18 +58,9 @@ void Smalrubot::process() {
     case 90: reset               ();  break;
     default:                          break;
   }
-  
-  // Write the response.
-  if (response[0] != '\0') writeResponse();
-  
-  #ifdef debug
-   Serial.print("Responded with - "); Serial.println(response);
-   Serial.println();
-  #endif
 }
 
 
-
 // WRITE CALLBACK
 void Smalrubot::setupWrite(void (*writeCallback)(char *str)) {
   _writeCallback = writeCallback;

data/sketch/lib/Smalrubot.h

@@ -27,7 +27,7 @@ class Smalrubot {
     void parse(char c);
     void process();
 
-  private:
+  protected:
     // Request storage.
     char request[8];
     int index;
@@ -46,6 +46,8 @@ class Smalrubot {
 
     Servo servos[12];
 
+    virtual void processCommand();
+
     // API-accessible functions.
     void setMode               ();
     void dWrite                ();

data/sketch/lib/SrStuduino.cpp

@@ -0,0 +1,183 @@
+#include "SrStuduino.h"
+
+typedef Smalrubot base;
+
+SrStuduino::SrStuduino() {
+}
+
+/*
+ * 20-39: Initialize
+ * 40-59: Actuatuator
+ * 60-79: Sensor
+ **/
+void SrStuduino::processCommand() {
+  switch(cmd) {
+  case 20:
+    setDcMotorCalibration();
+    break;
+  case 22:
+    initDcMotorPort();
+    break;
+  case 25:
+    initSensorPort();
+    break;
+
+  case 42:
+    dcMotorPower();
+    break;
+  case 43:
+    dcMotorControl();
+    break;
+
+  case 61:
+    getTouchSensorValue();
+    break;
+  case 62:
+    getLightSensorValue();
+    break;
+  case 64:
+    getIrPhotoreflectorValue();
+    break;
+
+  default:
+    base::processCommand();
+    break;
+  }
+}
+
+byte motorPorts[] = {
+  PORT_M1,
+  PORT_M2
+};
+byte analogPorts[] = {
+  PORT_A0,
+  PORT_A1,
+  PORT_A2,
+  PORT_A3,
+  PORT_A4,
+  PORT_A5,
+  PORT_A6,
+  PORT_A7
+};
+byte pids[] = {
+  PIDOPEN,
+  PIDLED,
+  PIDBUZZER,
+  PIDLIGHTSENSOR,
+  PIDSOUNDSENSOR,
+  PIDIRPHOTOREFLECTOR,
+  PIDACCELEROMETER,
+  PIDTOUCHSENSOR,
+  PIDPUSHSWITCH
+};
+
+/**
+ * !20<motor_index><rate>.
+ *
+ *   motor_index(2): 0-1 => PORT_M1-PORT_M2
+ *   rate(3): 0-100
+ **/
+void SrStuduino::setDcMotorCalibration() {
+  byte calib[] = { 100, 100 };
+
+  calib[pin] = val;
+  studuino.SetDCMotorCalibration(calib);
+}
+
+/**
+ * !22<motor_index>.
+ *
+ *   motor_index(2): 0-1 => PORT_M1-PORT_M2
+ **/
+void SrStuduino::initDcMotorPort() {
+  studuino.InitDCMotorPort(motorPorts[pin]);
+}
+
+/**
+ * !25<sensor_index><pid_index>.
+ *
+ *   sensor_index(2): 0-7 => PORT_A0-PORT_A7
+ *   pid_index(3): 0 => PIDOPEN or
+ *                 1 => PIDLED or
+ *                 2 => PIDBUZZER or
+ *                 3 => PIDLIGHTSENSOR or
+ *                 4 => PIDSOUNDSENSOR or
+ *                 5 => PIDRPHOTOREFLECTOR or
+ *                 6 => PIDACCELEROMETER or
+ *                 7 => PIDTOUCHSENSOR or
+ *                 8 => PIDPUSHSWITCH
+ **/
+void SrStuduino::initSensorPort() {
+  studuino.InitSensorPort(analogPorts[pin], pids[val]);
+}
+
+/**
+ * !42<motor_index><pace>.
+ *
+ *   motor_index(2): 0-1 => PORT_M1-PORT_M2
+ *   pace(3): 0-255
+ **/
+void SrStuduino::dcMotorPower() {
+  studuino.DCMotorPower(motorPorts[pin], val);
+}
+
+/**
+ * !43<motor_index><rotation>.
+ *
+ *   motor_index(2): 0-1 => PORT_M1-PORT_M2
+ *   rotation_index(3): 0 => NORMAL or
+ *                      1 => REVERSE or
+ *                      2 => BRAKE or
+ *                      3 => COAST
+ **/
+void SrStuduino::dcMotorControl() {
+  byte rotations[] = { NORMAL, REVERSE, BRAKE, COAST };
+
+  studuino.DCMotorControl(motorPorts[pin], rotations[val]);
+}
+
+/**
+ * !61<sensor_index>.
+ *
+ *   sensor_index(2): 0-7 => PORT_A0-PORT_A7
+ *
+ *   return: <sensor_index><res>
+ *
+ *     res: 0 => pressed or
+ *          1 => released
+ **/
+void SrStuduino::getTouchSensorValue() {
+  byte res = studuino.GetTouchSensorValue(analogPorts[pin]);
+
+  sprintf(response, "%02d:%01d", pin, res);
+}
+
+/**
+ * !62<sensor_index>.
+ *
+ *   sensor_index(2): 0-7 => PORT_A0-PORT_A7
+ *
+ *   return: <sensor_index><res>
+ *
+ *     res: 0-1023
+ **/
+void SrStuduino::getLightSensorValue() {
+  int res = studuino.GetLightSensorValue(analogPorts[pin]);
+
+  sprintf(response, "%02d:%04d", pin, res);
+}
+
+/**
+ * !64<sensor_index>.
+ *
+ *   sensor_index(2): 0-7 => PORT_A0-PORT_A7
+ *
+ *   return: <sensor_index><res>
+ *
+ *     res: 0-1023
+ **/
+void SrStuduino::getIrPhotoreflectorValue() {
+  int res = studuino.GetIRPhotoreflectorValue(analogPorts[pin]);
+
+  sprintf(response, "%02d:%04d", pin, res);
+}

data/sketch/lib/SrStuduino.h

@@ -0,0 +1,31 @@
+/*
+  Library for smalrubot ruby gem.
+*/
+
+#ifndef SrStuduino_h
+#define SrStuduino_h
+
+#include "Smalrubot.h"
+#include "Studuino.h"
+
+class SrStuduino : public Smalrubot {
+  public:
+    SrStuduino();
+
+  protected:
+    Studuino studuino;
+
+    virtual void processCommand();
+
+    void setDcMotorCalibration();
+    void initDcMotorPort();
+    void initSensorPort();
+    void dcMotorPower();
+    void dcMotorControl();
+    void getTouchSensorValue();
+    void getLightSensorValue();
+    void getIrPhotoreflectorValue();
+};
+
+
+#endif

data/sketch/sr/sr.ino

@@ -7,7 +7,7 @@ void writeResponse(char *response) { Serial.println(response); }
 void (*writeCallback)(char *str) = writeResponse;
 
 void setup() {
-  Serial.begin(115200);
+  Serial.begin(19200);
   smalrubot.setupWrite(writeCallback);
 }
 

data/sketch/sr_studu/sr_studu.ino

@@ -0,0 +1,22 @@
+#include "SrStuduino.h"
+#include <Servo.h>
+#include <Wire.h>
+#include <MMA8653.h>
+#include "Studuino.h"
+
+SrStuduino smalrubot;
+
+// Smalrubot.h doesn't handle TXRX. Setup a function to tell it to write to Serial.
+void writeResponse(char *response) { Serial.println(response); }
+void (*writeCallback)(char *str) = writeResponse;
+
+void setup() {
+  Serial.begin(19200);
+  smalrubot.setupWrite(writeCallback);
+}
+
+void loop() {
+  while(Serial.available() > 0) smalrubot.parse(Serial.read());
+  Serial.flush();
+}
+

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalrubot
 version: !ruby/object:Gem::Version
-  version: 0.0.2
+  version: 0.0.3
 platform: ruby
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-01-24 00:00:00.000000000 Z
+date: 2015-01-27 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -85,6 +85,7 @@ files:
 - examples/test.rb
 - lib/smalrubot.rb
 - lib/smalrubot/board.rb
+- lib/smalrubot/board/studuino.rb
 - lib/smalrubot/board_not_found.rb
 - lib/smalrubot/components.rb
 - lib/smalrubot/components/base_component.rb
@@ -96,7 +97,10 @@ files:
 - lib/smalrubot/version.rb
 - sketch/lib/Smalrubot.cpp
 - sketch/lib/Smalrubot.h
+- sketch/lib/SrStuduino.cpp
+- sketch/lib/SrStuduino.h
 - sketch/sr/sr.ino
+- sketch/sr_studu/sr_studu.ino
 - smalrubot.gemspec
 - spec/lib/board_not_found_spec.rb
 - spec/lib/board_spec.rb