smalruby 0.0.29 → 0.0.30

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
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-  data.tar.gz: 1ea3cb55ce68a5228d9f487d881f18f4aec3d873
+  metadata.gz: 7ed757d4f688a45d5484eb73d54ab07c713d7280
+  data.tar.gz: 9d326347f27a65ddbe65b48c737ecc8a70a3f9d9
 SHA512:
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+  data.tar.gz: a9e997fe319235b23b037283ab48431c05551cb89a0260a41ec0cfbb0b0b9d39e6af70b3a917003df4b08f06b69c4db913deef64cd905e4d89a6905bad62f82c

data/lib/smalruby/character.rb

@@ -391,6 +391,11 @@ module Smalruby
       Hardware.create_hardware(Hardware::TwoWheelDriveCar, pin)
     end
 
+    # モータードライバ
+    def motor_driver(pin)
+      Hardware.create_hardware(Hardware::MotorDriver, pin)
+    end
+
     # ボタン
     def button(pin)
       Hardware.create_hardware(Hardware::Button, pin)
@@ -534,6 +539,7 @@ module Smalruby
     private
 
     def draw_pen(left, top, right, bottom)
+      return if !visible || vanished?
       world.current_stage.line(left: left, top: top,
                                right: right, bottom: bottom,
                                color: @pen_color)

data/lib/smalruby/hardware/button.rb

@@ -6,17 +6,29 @@ module Smalruby
     # ボタンを表現するクラス
     class Button < Dino::Components::Button
       def initialize(options)
-        super(board: world.board, pin: Pin.smalruby_to_dino(options[:pin]))
+        @using_pullup = true
+        super(board: world.board, pin: Pin.smalruby_to_dino(options[:pin]),
+              pullup: true)
+      end
+
+      # プルアップ抵抗を使わない
+      def not_use_pullup
+        @using_pullup = false
+        board.set_pullup(pin, false)
+      end
+
+      def stop
+        @board.remove_digital_hardware(self)
       end
 
       def up?
-        @state == UP
+        @using_pullup ? @state == DOWN : @state == UP
       end
 
       alias_method :on?, :up?
 
       def down?
-        @state == DOWN
+        !up?
       end
 
       alias_method :off?, :down?
@@ -27,8 +39,8 @@ module Smalruby
         super(options)
 
         s_pin = Pin.dino_to_smalruby(pin)
-        down { world.button_changed(s_pin, :down) }
-        up { world.button_changed(s_pin, :up) }
+        down { world.button_changed(s_pin, (@using_pullup ? :up : :down)) }
+        up { world.button_changed(s_pin, (@using_pullup ? :down : :up)) }
       end
     end
   end

data/lib/smalruby/hardware/dino/fix_gets.rb

@@ -7,16 +7,43 @@ if Util.windows?
   require 'dino'
 
   if Dino::VERSION >= '0.11'
+    require 'mutex_m'
+
     class Dino::TxRx::Base
+      def write(message)
+        loop do
+          if IO.select(nil, [io], nil)
+            io.synchronize { io.syswrite(message) }
+            break
+          end
+        end
+      end
+
       def gets(timeout = 0.005)
-        return nil unless IO.select([io], nil, nil, timeout)
-        io.read_timeout = (timeout * 1000).to_i
-        bytes = []
-        until (x = io.getbyte).nil?
-          bytes.push(x)
+        @buffer ||= ""
+        if !@buffer.include?("\n")
+          return nil unless IO.select([io], nil, nil, timeout)
+          io.synchronize do
+            io.read_timeout = (timeout * 1000).to_i
+          end
+          bytes = []
+          until (x = io.synchronize { io.getbyte }).nil?
+            bytes.push(x)
+          end
+          return nil if bytes.empty?
+          @buffer += bytes.pack("C*")
         end
-        return nil if bytes.empty?
-        bytes.pack("C*")
+        @buffer.slice!(/\A[^\n]*\n/)
+      end
+    end
+
+    class Dino::TxRx::Serial
+      def io
+        unless @io
+          @io = connect
+          @io.extend(Mutex_m)
+        end
+        @io
       end
     end
   elsif Dino::VERSION >= '0.10'

data/lib/smalruby/hardware/motor_driver.rb

@@ -0,0 +1,77 @@
+# -*- coding: utf-8 -*-
+require 'smalruby/hardware'
+
+module Smalruby
+  module Hardware
+    # モータードライバを表現するクラス
+    #
+    # モータードライバのVrefにはPWM出力できるD3, D5, D6, D9, D10, D11の
+    # いずれかを接続し、Vin1、Vin2はVrefからの連番(例えば、VrefがD3であ
+    # ればVin1、Vin2はそれぞれD4, D5)を接続してください。
+    #
+    # 動作確認済みのモータードライバの一覧
+    # * TOSHIBA
+    #   * TA7291P
+    class MotorDriver < Dino::Components::BaseComponent
+      # モーターの回転速度の割合(0～100%)
+      attr_reader :speed
+
+      def initialize(options)
+        pin = Pin.smalruby_to_dino(options[:pin])
+        case pin
+        when 3, 5, 6, 9, 10, 11
+          super(board: world.board, pin: (pin...(pin + 3)).to_a)
+        else
+          fail "モーターのピン番号が間違っています: {options[:pin]}"
+        end
+        self.speed = options[:speed] || 100
+      end
+
+      def speed=(val)
+        @speed = val
+        if @speed < 0
+          @speed = 0
+        elsif @speed > 100
+          @speed = 100
+        end
+      end
+
+      # 正転する
+      def forward
+        write_pins(speed, 100, 0)
+      end
+
+      # 逆転する
+      def backward
+        write_pins(speed, 0, 100)
+      end
+
+      # 停止する
+      def stop
+        write_pins(0, 0, 0)
+      end
+
+      private
+
+      def after_initialize(_ = {})
+        pins.each do |pin|
+          set_pin_mode(pin, :out)
+        end
+        stop
+      end
+
+      def write_pins(*levels)
+        levels.each.with_index do |level, i|
+          case level
+          when 0
+            digital_write(pins[i], Dino::Board::LOW)
+          when 100
+            digital_write(pins[i], Dino::Board::HIGH)
+          else
+            analog_write(pins[i], (Dino::Board::HIGH * level / 100.0).round)
+          end
+        end
+      end
+    end
+  end
+end

data/lib/smalruby/hardware/two_wheel_drive_car.rb

@@ -5,35 +5,58 @@ module Smalruby
   module Hardware
     # 2WD車のモーターを表現するクラス
     class TwoWheelDriveCar < Dino::Components::BaseComponent
+      # 左のモーターの速度%
+      attr_reader :left_speed
+
+      # 右のモーターの速度%
+      attr_reader :right_speed
+
       def initialize(options)
+        @left_speed = 100
+        @right_speed = 100
+
         pin = Pin.smalruby_to_dino(options[:pin])
         case pin
-        when 2..10
+        when 5
+          super(board: world.board, pin: [5, 6, 9, 10])
+        when 6
           super(board: world.board, pin: (pin...(pin + 4)).to_a)
         else
           fail "モーターのピン番号が間違っています: {options[:pin]}"
         end
       end
 
+      [:left, :right].each do |lor|
+        define_method("#{lor}_speed=") do |val|
+          name = "@#{lor}_speed"
+          if val < 0
+            instance_variable_set(name, 0)
+          elsif val > 100
+            instance_variable_set(name, 100)
+          else
+            instance_variable_set(name, val)
+          end
+        end
+      end
+
       # 前進する
-      def forward(left_level = 100,
-                  right_level = 100)
-        digital_write_pins(left_level, 0, right_level, 0)
+      def forward
+        digital_write_pins(left_speed, 0, right_speed, 0)
       end
 
       # 後退する
-      def backward(left_level = 100, right_level = 100)
-        digital_write_pins(0, left_level, 0, right_level)
+      def backward
+        digital_write_pins(0, left_speed, 0, right_speed)
       end
 
       # 左に曲がる
-      def turn_left(left_level = 100, right_level = 100)
-        digital_write_pins(0, left_level, right_level, 0)
+      def turn_left
+        digital_write_pins(0, left_speed, right_speed, 0)
       end
 
       # 右に曲がる
-      def turn_right(left_level = 100, right_level = 100)
-        digital_write_pins(left_level, 0, 0, right_level)
+      def turn_right
+        digital_write_pins(left_speed, 0, 0, right_speed)
       end
 
       # 停止する
@@ -46,12 +69,10 @@ module Smalruby
         defaults = {
           command: 'forward',
           sec: nil,
-          left_level: 100,
-          right_level: 100,
         }
         opts = Util.process_options(options, defaults)
 
-        send(opts[:command], opts[:left_level], opts[:right_level])
+        send(opts[:command])
         sleep(opts[:sec]) if opts[:sec]
         stop unless opts[:command] == :stop
       end
@@ -65,12 +86,26 @@ module Smalruby
         stop
       end
 
-      def digital_write_pins(*levels)
-        2.times do
-          levels.each.with_index do
-            |level, i|
-            digital_write(pins[i], (Dino::Board::HIGH * level / 100.0).to_i)
-            sleep(0.05) if i.odd?
+      def digital_write_pins(*speeds)
+        if pins.first == 5
+          speeds.each.with_index do |speed, i|
+            level = (Dino::Board::HIGH * speed / 100.0).floor
+            case level
+            when 0
+              digital_write(pins[i], Dino::Board::LOW)
+            when 100
+              digital_write(pins[i], Dino::Board::HIGH)
+            else
+              analog_write(pins[i], level)
+            end
+          end
+        else
+          2.times do
+            speeds.each.with_index do
+              |speed, i|
+              digital_write(pins[i], (Dino::Board::HIGH * speed / 100.0).floor)
+              sleep(0.05) if i.odd?
+            end
           end
         end
       end

data/lib/smalruby/hardware.rb

@@ -16,6 +16,7 @@ module Smalruby
     autoload :RgbLedCathode
     autoload :Servo
     autoload :TwoWheelDriveCar
+    autoload :MotorDriver
 
     autoload :Button
     autoload :Sensor

data/lib/smalruby/version.rb

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
 
 module Smalruby
-  VERSION =  '0.0.29'
+  VERSION =  '0.0.30'
 end

data/samples/hardware_button.rb

@@ -16,6 +16,8 @@ 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

data/samples/hardware_button_with_pullup.rb

@@ -0,0 +1,32 @@
+# -*- 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

data/samples/hardware_motor_driver.rb

@@ -0,0 +1,110 @@
+# -*- coding: utf-8 -*-
+
+DESCRIPTION = <<EOS
+モータードライバ(TA7291P)を操作します
+EOS
+
+# デジタルの6～11番ピンをそれぞれ左右のモーター用のモータードライバ
+# (TA7291P)の4・5・6に接続してください。
+
+require 'smalruby'
+
+init_hardware
+
+stage1 = Stage.new(color: 'white')
+
+stage1.on(:start) do
+  fill(color: 'white')
+  draw_font(string: DESCRIPTION, color: 'black')
+
+  motor_driver('D6').speed = 100
+  motor_driver('D9').speed = 100
+end
+
+stage1.on(:key_down, K_UP) do
+  fill(color: 'white')
+  draw_font(string: '進む', color: 'black')
+
+  motor_driver('D6').forward
+  motor_driver('D9').forward
+
+  await until !Input.key_down?(K_UP)
+
+  fill(color: 'white')
+
+  motor_driver('D6').stop
+  motor_driver('D9').stop
+end
+
+stage1.on(:key_down, K_DOWN) do
+  fill(color: 'white')
+  draw_font(string: 'バックする', color: 'black')
+
+  motor_driver('D6').backward
+  motor_driver('D9').backward
+
+  await until !Input.key_down?(K_DOWN)
+
+  fill(color: 'white')
+
+  motor_driver('D6').stop
+  motor_driver('D9').stop
+end
+
+stage1.on(:key_down, K_LEFT) do
+  fill(color: 'white')
+  draw_font(string: '左に旋回する', color: 'black')
+
+  motor_driver('D6').backward
+  motor_driver('D9').forward
+
+  await until !Input.key_down?(K_LEFT)
+
+  fill(color: 'white')
+
+  motor_driver('D6').stop
+  motor_driver('D9').stop
+end
+
+stage1.on(:key_down, K_RIGHT) do
+  fill(color: 'white')
+  draw_font(string: '右に旋回する', color: 'black')
+
+  motor_driver('D6').forward
+  motor_driver('D9').backward
+
+  await until !Input.key_down?(K_RIGHT)
+
+  fill(color: 'white')
+
+  motor_driver('D6').stop
+  motor_driver('D9').stop
+end
+
+stage1.on(:key_push, K_W) do
+  motor_driver('D6').speed += 10
+
+  fill(color: 'white')
+  draw_font(string: "左の速度: #{motor_driver('D6').speed}%", color: 'black')
+end
+
+stage1.on(:key_push, K_S) do
+  motor_driver('D6').speed -= 10
+
+  fill(color: 'white')
+  draw_font(string: "左の速度: #{motor_driver('D6').speed}%", color: 'black')
+end
+
+stage1.on(:key_push, K_O) do
+  motor_driver('D9').speed += 10
+
+  fill(color: 'white')
+  draw_font(string: "右の速度: #{motor_driver('D9').speed}%", color: 'black')
+end
+
+stage1.on(:key_push, K_L) do
+  motor_driver('D9').speed -= 10
+
+  fill(color: 'white')
+  draw_font(string: "右の速度: #{motor_driver('D9').speed}%", color: 'black')
+end

data/samples/hardware_two_wheel_drive_car.rb

@@ -4,8 +4,8 @@ DESCRIPTION = <<EOS
 2WD車のタイヤ(モーター)を操作します
 EOS
 
-# デジタルの2番・3番ピンに左のモーター、4番・5番ピンに右のモーターを接
-# 続してください。
+# PWM出力可能なデジタルの5番・6番ピンに左のモーター、10番・9番ピンに右
+# のモーターを接続してください。
 
 require 'smalruby'
 
@@ -17,15 +17,43 @@ stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
   loop do
-    two_wheel_drive_car('D6').forward
-    sleep(3)
-    two_wheel_drive_car('D6').backward
-    sleep(3)
-    two_wheel_drive_car('D6').turn_left
-    sleep(3)
-    two_wheel_drive_car('D6').turn_right
-    sleep(3)
-    two_wheel_drive_car('D6').stop
-    sleep(3)
+    two_wheel_drive_car('D5').forward
+    sleep(2)
+    two_wheel_drive_car('D5').backward
+    sleep(2)
+    two_wheel_drive_car('D5').turn_left
+    sleep(0.5)
+    two_wheel_drive_car('D5').turn_right
+    sleep(0.5)
+    two_wheel_drive_car('D5').stop
+    sleep(1)
   end
 end
+
+stage1.on(:key_push, K_E) do
+  two_wheel_drive_car('D5').left_speed += 1
+
+  fill(color: 'white')
+  draw_font(string: "速度%: 左< #{two_wheel_drive_car('D5').left_speed} > 右< #{two_wheel_drive_car('D5').right_speed} >", color: 'black')
+end
+
+stage1.on(:key_push, K_D) do
+  two_wheel_drive_car('D5').left_speed -= 1
+
+  fill(color: 'white')
+  draw_font(string: "速度%: 左< #{two_wheel_drive_car('D5').left_speed} > 右< #{two_wheel_drive_car('D5').right_speed} >", color: 'black')
+end
+
+stage1.on(:key_push, K_UP) do
+  two_wheel_drive_car('D5').right_speed += 1
+
+  fill(color: 'white')
+  draw_font(string: "速度%: 左< #{two_wheel_drive_car('D5').left_speed} > 右< #{two_wheel_drive_car('D5').right_speed} >", color: 'black')
+end
+
+stage1.on(:key_push, K_DOWN) do
+  two_wheel_drive_car('D5').right_speed -= 1
+
+  fill(color: 'white')
+  draw_font(string: "速度%: 左< #{two_wheel_drive_car('D5').left_speed} > 右< #{two_wheel_drive_car('D5').right_speed} >", color: 'black')
+end

data/samples/hardware_two_wheel_drive_car_run.rb

@@ -4,8 +4,8 @@ DESCRIPTION = <<EOS
 2WD車のタイヤ(モーター)を操作します
 EOS
 
-# デジタルの6番・7番ピンに左のモーター、8番・9番ピンに右のモーターを接
-# 続してください。
+# PWM出力可能なデジタルの5番・6番ピンに左のモーター、10番・9番ピンに右
+# のモーターを接続してください。
 
 require 'smalruby'
 
@@ -17,13 +17,10 @@ stage1.on(:start) do
   draw_font(string: DESCRIPTION, color: 'black')
 
   loop do
-    two_wheel_drive_car('D6').run(command: 'forward', sec: 2, left_level: 85, right_level: 100)
-    sleep(1)
-    two_wheel_drive_car('D6').run(command: 'backward', sec: 2, left_level: 85, right_level: 100)
-    sleep(1)
-    two_wheel_drive_car('D6').run(command: 'turn_left', sec: 2, left_level: 85, right_level: 100)
-    sleep(1)
-    two_wheel_drive_car('D6').run(command: 'turn_right', sec: 2, left_level: 85, right_level: 100)
-    sleep(1)
+    two_wheel_drive_car('D5').run(command: 'forward', sec: 2)
+    two_wheel_drive_car('D5').run(command: 'backward', sec: 2)
+    two_wheel_drive_car('D5').run(command: 'turn_left', sec: 2)
+    two_wheel_drive_car('D5').run(command: 'turn_right', sec: 2)
+    two_wheel_drive_car('D5').run(command: 'stop', sec: 2)
   end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalruby
 version: !ruby/object:Gem::Version
-  version: 0.0.29
+  version: 0.0.30
 platform: ruby
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-07-21 00:00:00.000000000 Z
+date: 2014-08-12 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -259,6 +259,7 @@ files:
 - lib/smalruby/hardware/button.rb
 - lib/smalruby/hardware/dino/fix_gets.rb
 - lib/smalruby/hardware/led.rb
+- lib/smalruby/hardware/motor_driver.rb
 - lib/smalruby/hardware/null_hardware.rb
 - lib/smalruby/hardware/pin.rb
 - lib/smalruby/hardware/rgb_led_anode.rb
@@ -281,7 +282,9 @@ files:
 - 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
 - samples/hardware_rgb_led_cathode.rb
 - samples/hardware_sensor.rb