smalruby 0.1.0 → 0.1.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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-  data.tar.gz: a030834e15aec64cd9a5201d640e1909a609ba31
+  metadata.gz: ec6a107067381290914885042336c01037c6fef0
+  data.tar.gz: 4842514d256c5439e2ae92d4d94b5906c3ac2c4f
 SHA512:
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+  data.tar.gz: d78a07a18293228d5cb6337df0b62bcbb2f2dba8b64388cb47fbfee3fa4cd5a5d50f12af7d1a86e7c9d5f4779a369d97e6d292e0b00d765720fbee4c23e4b161

data/lib/smalruby/character.rb

@@ -406,6 +406,11 @@ module Smalruby
       Hardware.create_hardware(Hardware::Sensor, pin)
     end
 
+    # create or get Hardware::SmalrubotV3 instance
+    def smalrubot_v3
+      Hardware.create_hardware(Hardware::SmalrubotV3)
+    end
+
     # @!endgroup
 
     def draw
@@ -427,10 +432,6 @@ module Smalruby
         @checking_hit_targets << options
         @checking_hit_targets.flatten!
         @checking_hit_targets.uniq!
-      when :sensor_change
-        sensor(options.first)
-      when :button_up, :button_down
-        button(options.first)
       end
     end
 
@@ -480,27 +481,6 @@ module Smalruby
       end
     end
 
-    def sensor_change(pin, value)
-      @event_handlers[:sensor_change].try(:each) do |h|
-        next unless h.options.include?(pin)
-        @threads << h.call(value)
-      end
-    end
-
-    def button_up(pin)
-      @event_handlers[:button_up].try(:each) do |h|
-        next unless h.options.include?(pin)
-        @threads << h.call
-      end
-    end
-
-    def button_down(pin)
-      @event_handlers[:button_down].try(:each) do |h|
-        next unless h.options.include?(pin)
-        @threads << h.call
-      end
-    end
-
     def alive?
       @threads.compact!
       @threads.delete_if { |t|

data/lib/smalruby/hardware/button.rb

@@ -6,22 +6,29 @@ module Smalruby
     # ボタンを表現するクラス
     class Button < Smalrubot::Components::BaseComponent
       def initialize(options)
-        @using_pullup = true
         super(board: world.board, pin: Pin.smalruby_to_smalrubot(options[:pin]),
-              pullup: true)
+              pullup: false)
       end
 
-      def up?
-        digital_read(pin) == Smalrubot::Board::LOW
+      def released?
+        board.digital_read(pin) == 0
       end
 
-      alias_method :off?, :up?
+      alias_method :off?, :released?
+      alias_method :up?, :released?
 
-      def down?
-        !up?
+      def pressed?
+        !released?
       end
 
-      alias_method :on?, :down?
+      alias_method :on?, :pressed?
+      alias_method :down?, :pressed?
+
+      private
+
+      def after_initialize(_ = {})
+        set_pin_mode(:in)
+      end
     end
   end
 end

data/lib/smalruby/hardware/led.rb

@@ -9,14 +9,16 @@ module Smalruby
         super(board: world.board, pin: Pin.smalruby_to_smalrubot(options[:pin]))
       end
 
-      # @!method on
+      # @!method turn_on
       # LEDをオンにする
+      alias_method :turn_on, :on
 
-      # @!method off
+      # @!method turn_off
       # LEDをオフにする
+      alias_method :turn_off, :off
 
       def stop
-        off
+        turn_off
       end
     end
   end

data/lib/smalruby/hardware/rgb_led_anode.rb

@@ -17,14 +17,9 @@ module Smalruby
         end
       end
 
-      # RGB LEDをオンにする
-      def on(options = {})
-        defaults = {
-          color: 'white'
-        }
-        opts = Util.process_options(options, defaults)
-
-        color = Color.smalruby_to_dxruby(opts[:color])
+      # RGB LEDを指定した色に光らせる
+      def color=(val)
+        color = Color.smalruby_to_dxruby(val)
         analog_write(pins[0], calc_value(color[0]))
         analog_write(pins[1], calc_value(color[1]))
         analog_write(pins[2], calc_value(color[2]))
@@ -32,19 +27,19 @@ module Smalruby
       end
 
       # RGB LEDをオフにする
-      def off
+      def turn_off
         digital_write(pins[3], Smalrubot::Board::LOW)
       end
 
       def stop
-        off
+        turn_off
       end
 
       private
 
       def after_initialize(_ = {})
         set_pin_mode(pins[3], :out)
-        off
+        turn_off
       end
 
       def calc_value(value)

data/lib/smalruby/hardware/rgb_led_cathode.rb

@@ -17,21 +17,16 @@ module Smalruby
         end
       end
 
-      # RGB LEDをオンにする
-      def on(options = {})
-        defaults = {
-          color: 'white'
-        }
-        opts = Util.process_options(options, defaults)
-
-        color = Color.smalruby_to_dxruby(opts[:color])
+      # RGB LEDを指定した色に光らせる
+      def color=(val)
+        color = Color.smalruby_to_dxruby(val)
         analog_write(pins[0], calc_value(color[0]))
         analog_write(pins[1], calc_value(color[1]))
         analog_write(pins[2], calc_value(color[2]))
       end
 
       # RGB LEDをオフにする
-      def off
+      def turn_off
         color = Color.smalruby_to_dxruby('black')
         analog_write(pins[0], calc_value(color[0]))
         analog_write(pins[1], calc_value(color[1]))
@@ -39,13 +34,13 @@ module Smalruby
       end
 
       def stop
-        off
+        turn_off
       end
 
       private
 
       def after_initialize(_ = {})
-        off
+        turn_off
       end
 
       def calc_value(value)

data/lib/smalruby/hardware/smalrubot_v3.rb

@@ -0,0 +1,143 @@
+# -*- coding: utf-8 -*-
+require 'smalruby/hardware'
+
+module Smalruby
+  module Hardware
+    # Smalrubot v3 class
+    class SmalrubotV3
+      # wait time for next action
+      WAIT_TIME = 0.01
+
+      @mutex = Mutex.new
+
+      class << self
+        # lock for motor driver
+        def lock(&block)
+          @mutex.synchronize do
+            yield
+          end
+        end
+
+        # unlock for motor driver
+        def unlock(&block)
+          @mutex.unlock
+          yield
+        ensure
+          @mutex.lock
+        end
+      end
+
+      # Red LED that is connected D13
+      attr_reader :red_led
+
+      # Green LED that is connected D2
+      attr_reader :green_led
+
+      # Left Motor that is connected D6, D7, D8
+      attr_reader :left_motor
+
+      # Right Motor that is connected D9, D10, D11
+      attr_reader :right_motor
+
+      # Left touch sensor that is connected D4
+      attr_reader :left_touch_sensor
+
+      # Right touch sensor that is connected D3
+      attr_reader :right_touch_sensor
+
+      # Light sensor that is connected A0
+      attr_reader :light_sensor
+
+      def initialize(_)
+        @red_led = Led.new(pin: 'D13')
+        @green_led = Led.new(pin: 'D2')
+
+        @left_motor = MotorDriver.new(pin: 'D6')
+        @left_motor.speed = 100
+        @right_motor = MotorDriver.new(pin: 'D9')
+        @right_motor.speed = 100
+
+        @left_touch_sensor = Button.new(pin: 'D4')
+        @right_touch_sensor = Button.new(pin: 'D3')
+
+        @light_sensor = Sensor.new(pin: 'A0')
+
+        @current_motor_direction = :stop
+      end
+
+      # @!method forward(sec: nil)
+      #   forward
+      #
+      #   @param [Float] time of forwarding
+
+      # @!method backward(sec: nil)
+      #   backward
+      #
+      #   @param [Float] time of backwarding
+
+      # @!method turn_left(sec: nil)
+      #   turn left
+      #
+      #   @param [Float] time of turning left
+
+      # @!method turn_right(sec: nil)
+      #   turn right
+      #
+      #   @param [Float] time of turning right
+      %i(forward backward turn_left turn_right).each do |direction|
+        define_method(direction) do |sec: nil|
+          run(direction, sec: sec)
+        end
+      end
+
+      # stop
+      #
+      # @param [Float] time of stopping
+      def stop(sec: WAIT_TIME)
+        self.class.lock do
+          @left_motor.stop
+          @right_motor.stop
+          @current_motor_direction = :stop
+          if (sec = sec.to_f) > 0
+            sleep(sec)
+          end
+        end
+      end
+
+      private
+
+      def run(direction, sec: nil)
+        self.class.lock do
+          if @current_motor_direction != :stop
+            self.class.unlock do
+              stop(sec: WAIT_TIME)
+            end
+          end
+          case direction
+          when :forward
+            @left_motor.forward
+            @right_motor.forward
+          when :backward
+            @left_motor.backward
+            @right_motor.backward
+          when :turn_left
+            @left_motor.backward
+            @right_motor.forward
+          when :turn_right
+            @left_motor.forward
+            @right_motor.backward
+          end
+          @current_motor_direction = direction
+          if (sec = sec.to_f) > 0
+            sleep(sec)
+            if direction != :stop
+              self.class.unlock do
+                stop
+              end
+            end
+          end
+        end
+      end
+    end
+  end
+end

data/lib/smalruby/hardware.rb

@@ -20,6 +20,8 @@ module Smalruby
     autoload :Button
     autoload :Sensor
 
+    autoload :SmalrubotV3
+
     module_function
 
     # ハードウェアを準備する
@@ -68,7 +70,7 @@ module Smalruby
     # @param [Class] klass ハードウェアのクラス
     # @param [String|Numeric] pin ピン番号
     # @return [Object] ハードウェアのインスタンス
-    def create_hardware(klass, pin)
+    def create_hardware(klass, pin = nil)
       klass = NullHardware unless @initialized_hardware
       key = [klass, pin]
       @hardware_cache.synchronize do

data/lib/smalruby/version.rb

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
 
 module Smalruby
-  VERSION =  '0.1.0'
+  VERSION =  '0.1.1'
 end

data/lib/smalruby/world.rb

@@ -9,28 +9,10 @@ module Smalruby
     attr_accessor :objects
     attr_accessor :board
     attr_accessor :current_stage
-    attr_reader :sensor_change_queue
-    attr_reader :button_change_queue
 
     def initialize
       @objects = []
       @board = nil
-      @sensor_change_queue = []
-      @sensor_change_queue.extend(Mutex_m)
-      @button_change_queue = []
-      @button_change_queue.extend(Mutex_m)
-    end
-
-    def sensor_changed(pin, value)
-      @sensor_change_queue.synchronize do
-        @sensor_change_queue.push([pin, value])
-      end
-    end
-
-    def button_changed(pin, up_or_down)
-      @button_change_queue.synchronize do
-        @button_change_queue.push([pin, up_or_down])
-      end
     end
   end
 end

data/lib/smalruby.rb

@@ -143,10 +143,6 @@ module Smalruby
 
           hit
 
-          sensor_change
-
-          button_change
-
           world.objects.delete_if do |o|
             o.join unless o.alive?
             o.vanished?
@@ -219,46 +215,6 @@ module Smalruby
         end
       end
     end
-
-    def sensor_change
-      if world.sensor_change_queue.length > 0
-        sensor_change_queue = nil
-        world.sensor_change_queue.synchronize do
-          sensor_change_queue = world.sensor_change_queue.dup
-          world.sensor_change_queue.clear
-        end
-
-        world.objects.each do |o|
-          if o.respond_to?(:sensor_change)
-            sensor_change_queue.each do |pin, value|
-              o.sensor_change(pin, value)
-            end
-          end
-        end
-      end
-    end
-
-    def button_change
-      if world.button_change_queue.length > 0
-        queue = nil
-        world.button_change_queue.synchronize do
-          queue = world.button_change_queue.dup
-          world.button_change_queue.clear
-        end
-
-        world.objects.each do |o|
-          if o.respond_to?(:button_up) && o.respond_to?(:button_down)
-            queue.each do |pin, up_or_down|
-              if up_or_down == :up
-                o.button_up(pin)
-              else
-                o.button_down(pin)
-              end
-            end
-          end
-        end
-      end
-    end
   end
 end
 

data/samples/check_hardware_motor_driver.rb

@@ -112,34 +112,5 @@ stage1.on(:start) do
       fill(color: 'white')
       draw_font(string: "右の速度: #{motor_driver('D9').speed}%", color: 'black')
     end
-
-    if Input.key_down?(K_SPACE)
-      fill(color: 'white')
-      draw_font(string: '右のLED赤色を光らせる', color: 'black')
-
-      led('D13').on
-
-      await until !Input.key_down?(K_SPACE)
-
-      led('D13').off
-
-      fill(color: 'white')
-      draw_font(string: '左のLED緑色を光らせる', color: 'black')
-
-      led('D2').on
-
-      sleep(1)
-
-      led('D2').off
-    end
-
-    if Input.key_down?(K_B)
-      until !Input.key_down?(K_B)
-        fill(color: 'white')
-        draw_font(string: "センサーの情報#{sensor('A0').value}", color: 'black')
-        await
-      end
-      fill(color: 'white')
-    end
   end
 end

data/samples/check_hardware_smalrubot_v3.rb

@@ -0,0 +1,187 @@
+# -*- coding: utf-8 -*-
+
+DESCRIPTION = <<EOS
+スモウルボットV3を操作します
+EOS
+
+require 'smalruby'
+
+init_hardware
+
+Smalrubot.debug_mode = true
+
+stage1 = Stage.new(color: 'white')
+stage1.smalrubot_v3
+
+stage1.on(:start) do
+  fill(color: 'white')
+  draw_font(string: DESCRIPTION, color: 'black')
+
+  loop do
+    if Input.key_down?(K_UP)
+      fill(color: 'white')
+      draw_font(string: '進む', color: 'black')
+
+      smalrubot_v3.forward
+
+      await until !Input.key_down?(K_UP)
+
+      fill(color: 'white')
+
+      smalrubot_v3.stop
+    end
+
+    if Input.key_down?(K_DOWN)
+      fill(color: 'white')
+      draw_font(string: 'バックする', color: 'black')
+
+      smalrubot_v3.backward
+
+      await until !Input.key_down?(K_DOWN)
+
+      fill(color: 'white')
+
+      smalrubot_v3.stop
+    end
+
+    if Input.key_down?(K_LEFT)
+      fill(color: 'white')
+      draw_font(string: '左に旋回する', color: 'black')
+
+      smalrubot_v3.turn_left
+
+      await until !Input.key_down?(K_LEFT)
+
+      fill(color: 'white')
+
+      smalrubot_v3.stop
+    end
+
+    if Input.key_down?(K_RIGHT)
+      fill(color: 'white')
+      draw_font(string: '右に旋回する', color: 'black')
+
+      smalrubot_v3.turn_right
+
+      await until !Input.key_down?(K_RIGHT)
+
+      fill(color: 'white')
+
+      smalrubot_v3.stop
+    end
+
+    if Input.key_down?(K_W) || Input.key_down?(K_S)
+      if Input.key_down?(K_W)
+        smalrubot_v3.left_motor.speed += 10
+      else
+        smalrubot_v3.left_motor.speed -= 10
+      end
+
+      fill(color: 'white')
+      draw_font(string: "左の速度: #{smalrubot_v3.left_motor.speed}%",
+                color: 'black')
+    end
+
+    if Input.key_down?(K_O) || Input.key_down?(K_L)
+      if Input.key_down?(K_O)
+        smalrubot_v3.right_motor.speed += 10
+      else
+        smalrubot_v3.right_motor.speed -= 10
+      end
+
+      fill(color: 'white')
+      draw_font(string: "右の速度: #{smalrubot_v3.right_motor.speed}%",
+                color: 'black')
+    end
+
+    if Input.key_down?(K_SPACE)
+      fill(color: 'white')
+      draw_font(string: '赤色LEDを光らせる', color: 'black')
+
+      smalrubot_v3.red_led.turn_on
+
+      sleep(1)
+
+      smalrubot_v3.red_led.turn_off
+
+      fill(color: 'white')
+      draw_font(string: '緑色LEDを光らせる', color: 'black')
+
+      smalrubot_v3.green_led.turn_on
+
+      sleep(1)
+
+      smalrubot_v3.green_led.turn_off
+    end
+
+    if Input.key_down?(K_B)
+      until !Input.key_down?(K_B)
+        fill(color: 'white')
+        draw_font(string: "光センサーの情報: #{smalrubot_v3.light_sensor.value}",
+                  color: 'black')
+        await
+      end
+      fill(color: 'white')
+    end
+
+    if Input.key_down?(K_H)
+      until !Input.key_down?(K_H)
+        fill(color: 'white')
+        msg = 'タッチセンサーの情報: ' +
+          "左 #{smalrubot_v3.left_touch_sensor.on? ? 'ON ' : 'OFF'} " +
+          "右 #{smalrubot_v3.right_touch_sensor.on? ? 'ON ' : 'OFF'}"
+        draw_font(string: msg, color: 'black')
+        await
+      end
+      fill(color: 'white')
+    end
+  end
+end
+
+stage1.on(:key_push, K_A) do
+  loop do
+    fill(color: 'white')
+    draw_font(string: '自動運転', color: 'black')
+
+    if smalrubot_v3.left_touch_sensor.on? && smalrubot_v3.right_touch_sensor.on?
+      fill(color: 'white')
+      draw_font(string: '前方障害物発見！', color: 'black')
+
+      smalrubot_v3.backward(sec: 0.5)
+      if rand(2) == 1
+        smalrubot_v3.turn_left(sec: 0.2)
+      else
+        smalrubot_v3.turn_right(sec: 0.2)
+      end
+
+      next
+    end
+
+    if smalrubot_v3.right_touch_sensor.on?
+      fill(color: 'white')
+      draw_font(string: '右側障害物発見！', color: 'black')
+
+      smalrubot_v3.backward(sec: 0.5)
+      smalrubot_v3.turn_left(sec: 0.2)
+
+      next
+    end
+
+    if smalrubot_v3.left_touch_sensor.on?
+      fill(color: 'white')
+      draw_font(string: '左側障害物発見！', color: 'black')
+
+      smalrubot_v3.backward(sec: 0.5)
+      smalrubot_v3.turn_right(sec: 0.2)
+
+      next
+    end
+
+    smalrubot_v3.forward(sec: 0.5)
+
+    if Input.key_down?(K_Y)
+      fill(color: 'white')
+      break
+    end
+  end
+end

data/samples/hardware_button.rb

@@ -16,19 +16,11 @@ frog1 = Character.new(costume: 'frog1.png', x: 300, y: 200, visible: false)
 stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
-  button('D3').not_use_pullup
-
-  if button('D3').up?
-    frog1.visible = false
-  else
-    frog1.visible = true
+  loop do
+    if button('D3').up?
+      frog1.visible = false
+    else
+      frog1.visible = true
+    end
   end
 end
-
-stage1.on(:button_down, 'D3') do
-  frog1.visible = true
-end
-
-stage1.on(:button_up, 'D3') do
-  frog1.visible = false
-end

data/samples/hardware_led.rb

@@ -16,9 +16,9 @@ stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
   loop do
-    led('D13').on
+    led('D13').turn_on
     sleep(1)
-    led('D13').off
+    led('D13').turn_off
     sleep(1)
   end
 end

data/samples/hardware_rgb_led_anode.rb

@@ -17,13 +17,13 @@ stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
   loop do
-    rgb_led_anode('D3').on(color: 'red')
+    rgb_led_anode('D3').color = 'red'
     sleep(1)
-    rgb_led_anode('D3').on(color: 'green')
+    rgb_led_anode('D3').color = 'green'
     sleep(1)
-    rgb_led_anode('D3').on(color: 'blue')
+    rgb_led_anode('D3').color = 'blue'
     sleep(1)
-    rgb_led_anode('D3').off
+    rgb_led_anode('D3').turn_off
     sleep(1)
   end
 end

data/samples/hardware_rgb_led_cathode.rb

@@ -17,13 +17,13 @@ stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
   loop do
-    rgb_led_cathode('D3').on(color: 'red')
+    rgb_led_cathode('D3').color = 'red'
     sleep(1)
-    rgb_led_cathode('D3').on(color: 'green')
+    rgb_led_cathode('D3').color = 'green'
     sleep(1)
-    rgb_led_cathode('D3').on(color: 'blue')
+    rgb_led_cathode('D3').color = 'blue'
     sleep(1)
-    rgb_led_cathode('D3').off
+    rgb_led_cathode('D3').turn_off
     sleep(1)
   end
 end

data/samples/hardware_sensor.rb

@@ -6,19 +6,21 @@ init_hardware
 
 stage1 = Stage.new(color: 'white')
 
-stage1.on(:sensor_change, 'A0') do |value|
-  v = sensor('A0').value
-  if 0 <= v && v <= 255
-    fill(color: 'red')
-  end
+stage1.on(:start) do
+  loop do
+    v = sensor('A0').value
+    if 0 <= v && v <= 255
+      fill(color: 'red')
+    end
 
-  if 256 <= v && v <= 511
-    fill(color: 'yellow')
-  end
+    if 256 <= v && v <= 511
+      fill(color: 'yellow')
+    end
 
-  if 512 <= v
-    fill(color: 'blue')
-  end
+    if 512 <= v
+      fill(color: 'blue')
+    end
 
-  draw_font(string: "センサーの情報：#{v}",  color: 'black')
+    draw_font(string: "センサーの情報：#{v}",  color: 'black')
+  end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalruby
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.1.1
 platform: ruby
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-01-21 00:00:00.000000000 Z
+date: 2015-01-24 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -265,6 +265,7 @@ files:
 - lib/smalruby/hardware/rgb_led_cathode.rb
 - lib/smalruby/hardware/sensor.rb
 - lib/smalruby/hardware/servo.rb
+- lib/smalruby/hardware/smalrubot_v3.rb
 - lib/smalruby/hardware/two_wheel_drive_car.rb
 - lib/smalruby/stage.rb
 - lib/smalruby/util.rb
@@ -276,13 +277,13 @@ files:
 - samples/car.rb
 - samples/cat.rb
 - samples/check_hardware_motor_driver.rb
+- samples/check_hardware_smalrubot_v3.rb
 - samples/console.rb
 - samples/costume.rb
 - samples/costumes.rb
 - samples/extra_car.png
 - samples/finding_cars.rb
 - samples/hardware_button.rb
-- samples/hardware_button_with_pullup.rb
 - samples/hardware_led.rb
 - samples/hardware_motor_driver.rb
 - samples/hardware_rgb_led_anode.rb

data/samples/hardware_button_with_pullup.rb

@@ -1,32 +0,0 @@
-# -*- coding: utf-8 -*-
-
-DESCRIPTION = <<EOS
-ハードウェアのボタン(プルアップ)を操作します
-EOS
-
-# デジタルの3番ピンに直接ボタンを接続してください。
-
-require 'smalruby'
-
-init_hardware
-
-stage1 = Stage.new(color: 'white')
-frog1 = Character.new(costume: 'frog1.png', x: 300, y: 200, visible: false)
-
-stage1.on(:start) do
-  draw_font(string: DESCRIPTION, color: 'black')
-
-  if button('D3').up?
-    frog1.visible = false
-  else
-    frog1.visible = true
-  end
-end
-
-stage1.on(:button_down, 'D3') do
-  frog1.visible = true
-end
-
-stage1.on(:button_up, 'D3') do
-  frog1.visible = false
-end