smalruby 0.1.4-x86-mingw32 → 0.1.5-x86-mingw32

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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-  data.tar.gz: 60742405c7e343cc468ad33b6eae645ddb8eef6e
+  metadata.gz: 46b5dad32964402e87c3c347e5ac470b37e9fc87
+  data.tar.gz: d57ef38735bce9dfbfc3b2edd25b77b9e4f90746
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+  data.tar.gz: 90d06e77fe132e07a055342d712de62370a9bdb5b7515d332c8f266f264cedf701bfa845728a0ef09bcdec6443db6bdd05d1746238c8f1cf7432feea3a2ffbc6

data/lib/smalruby/hardware/smalrubot_s1.rb

@@ -72,29 +72,33 @@ module Smalruby
         end
       end
 
-      def left_ir_photoreflector_value
+      def left_sensor_value
         world.board.get_ir_photoreflector_value(PORT_A4).to_i
       end
 
-      def right_ir_photoreflector_value
+      def right_sensor_value
         world.board.get_ir_photoreflector_value(PORT_A5).to_i
       end
 
-      def turn_on_white_led
-        world.board.led(PORT_A1, ON)
-      end
-
-      def turn_off_white_led
-        world.board.led(PORT_A1, OFF)
-      end
-
       def turn_on_blue_led
         world.board.led(PORT_A0, ON)
       end
+      alias_method :turn_on_left_led, :turn_on_blue_led
 
       def turn_off_blue_led
         world.board.led(PORT_A0, OFF)
       end
+      alias_method :turn_off_left_led, :turn_off_blue_led
+
+      def turn_on_red_led
+        world.board.led(PORT_A1, ON)
+      end
+      alias_method :turn_on_right_led, :turn_on_red_led
+
+      def turn_off_red_led
+        world.board.led(PORT_A1, OFF)
+      end
+      alias_method :turn_off_right_led, :turn_off_red_led
 
       private
 

data/lib/smalruby/hardware/smalrubot_v3.rb

@@ -39,14 +39,11 @@ module Smalruby
       # Right Motor that is connected D9, D10, D11
       attr_reader :right_motor
 
-      # Left touch sensor that is connected D4
-      attr_reader :left_touch_sensor
+      # Left sensor that is connected A0
+      attr_reader :left_sensor
 
-      # Right touch sensor that is connected D3
-      attr_reader :right_touch_sensor
-
-      # Light sensor that is connected A0
-      attr_reader :light_sensor
+      # Right sensor that is connected A1
+      attr_reader :right_sensor
 
       def initialize(_)
         @red_led = Led.new(pin: 'D13')
@@ -57,14 +54,28 @@ module Smalruby
         @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')
+        @left_sensor = Sensor.new(pin: 'A0')
+        @right_sensor = Sensor.new(pin: 'A1')
 
         @current_motor_direction = :stop
       end
 
+      def left_dc_motor_pace_ratio
+        @left_motor.speed
+      end
+
+      def left_dc_motor_pace_ratio=(val)
+        @left_motor.speed = val
+      end
+
+      def right_dc_motor_pace_ratio
+        @right_motor.speed
+      end
+
+      def right_dc_motor_pace_ratio=(val)
+        @right_motor.speed = val
+      end
+
       # @!method forward(sec: nil)
       #   forward
       #
@@ -104,6 +115,34 @@ module Smalruby
         end
       end
 
+      def left_sensor_value
+        @left_sensor.value.to_i
+      end
+
+      def right_sensor_value
+        @right_sensor.value.to_i
+      end
+
+      def turn_on_green_led
+        @green_led.turn_on
+      end
+      alias_method :turn_on_left_led, :turn_on_green_led
+
+      def turn_off_green_led
+        @green_led.turn_off
+      end
+      alias_method :turn_off_left_led, :turn_off_green_led
+
+      def turn_on_red_led
+        @red_led.turn_on
+      end
+      alias_method :turn_on_right_led, :turn_on_red_led
+
+      def turn_off_red_led
+        @red_led.turn_off
+      end
+      alias_method :turn_off_right_led, :turn_off_red_led
+
       private
 
       def run(direction, sec: nil)

data/lib/smalruby/version.rb

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
 
 module Smalruby
-  VERSION =  '0.1.4'
+  VERSION =  '0.1.5'
 end

data/lib/smalruby.rb

@@ -69,7 +69,6 @@ module Smalruby
     private
 
     def init_window_application
-      Window.windowed = false unless Util.windows?
       Window.caption = File.basename($PROGRAM_NAME)
       Window.fps = 15
       Window.bgcolor = [255, 255, 255]
@@ -220,6 +219,12 @@ end
 
 include Smalruby
 
+if Util.windows? || ENV['SMALRUBY_WINDOWED']
+  Window.windowed = true
+else
+  Window.windowed = false
+end
+
 at_exit do
   Smalruby.start if !$ERROR_INFO && !Smalruby.started?
 end

data/samples/check_hardware_smalrubot_s1.rb

@@ -6,7 +6,8 @@ EOS
 
 require 'smalruby'
 
-init_hardware
+init_hardware(device: ENV['SMALRUBOT_DEVICE'],
+              baud: ENV['SMALRUBOT_BAUD'] ? ENV['SMALRUBOT_BAUD'].to_i : nil)
 
 stage1 = Stage.new(color: 'white')
 
@@ -92,28 +93,28 @@ stage1.on(:start) do
 
     if Input.key_down?(K_W)
       fill(color: 'white')
-      draw_font(string: '白色LEDを光らせる', color: 'black')
+      draw_font(string: '右のLEDを光らせる', color: 'black')
 
-      smalrubot_s1.turn_on_white_led
+      smalrubot_s1.turn_on_right_led
 
       await until !Input.key_down?(K_W)
 
       fill(color: 'white')
 
-      smalrubot_s1.turn_off_white_led
+      smalrubot_s1.turn_off_right_led
     end
 
     if Input.key_down?(K_B)
       fill(color: 'white')
-      draw_font(string: '青色LEDを光らせる', color: 'black')
+      draw_font(string: '左のLEDを光らせる', color: 'black')
 
-      smalrubot_s1.turn_on_blue_led
+      smalrubot_s1.turn_on_left_led
 
       await until !Input.key_down?(K_B)
 
-      fill(color: 'white')
+      smalrubot_s1.turn_off_left_led
 
-      smalrubot_s1.turn_off_blue_led
+      fill(color: 'white')
     end
   end
 end

data/samples/check_hardware_smalrubot_v3.rb

@@ -6,9 +6,8 @@ EOS
 
 require 'smalruby'
 
-init_hardware
-
-Smalrubot.debug_mode = true
+init_hardware(device: ENV['SMALRUBOT_DEVICE'],
+              baud: ENV['SMALRUBOT_BAUD'] ? ENV['SMALRUBOT_BAUD'].to_i : nil)
 
 stage1 = Stage.new(color: 'white')
 stage1.smalrubot_v3
@@ -72,64 +71,56 @@ stage1.on(:start) do
 
     if Input.key_down?(K_W) || Input.key_down?(K_S)
       if Input.key_down?(K_W)
-        smalrubot_v3.left_motor.speed += 10
+        smalrubot_v3.left_dc_motor_pace_ratio += 10
       else
-        smalrubot_v3.left_motor.speed -= 10
+        smalrubot_v3.left_dc_motor_pace_ratio -= 10
       end
 
       fill(color: 'white')
-      draw_font(string: "左の速度: #{smalrubot_v3.left_motor.speed}%",
+      draw_font(string: "左の速度: #{smalrubot_v3.left_dc_motor_pace_ratio}%",
                 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
+        smalrubot_v3.right_dc_motor_pace_ratio += 10
       else
-        smalrubot_v3.right_motor.speed -= 10
+        smalrubot_v3.right_dc_motor_pace_ratio -= 10
       end
 
       fill(color: 'white')
-      draw_font(string: "右の速度: #{smalrubot_v3.right_motor.speed}%",
+      draw_font(string: "右の速度: #{smalrubot_v3.right_dc_motor_pace_ratio}%",
                 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')
+      draw_font(string: '右のLEDを光らせる', color: 'black')
 
-      smalrubot_v3.red_led.turn_on
+      smalrubot_v3.turn_on_right_led
 
       sleep(1)
 
-      smalrubot_v3.red_led.turn_off
+      smalrubot_v3.turn_off_right_led
 
       fill(color: 'white')
-      draw_font(string: '緑色LEDを光らせる', color: 'black')
+      draw_font(string: '左のLEDを光らせる', color: 'black')
 
-      smalrubot_v3.green_led.turn_on
+      smalrubot_v3.turn_on_left_led
 
       sleep(1)
 
-      smalrubot_v3.green_led.turn_off
-    end
+      smalrubot_v3.turn_off_left_led
 
-    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'}"
+        msg = 'センサーの情報: ' +
+          "左 #{smalrubot_v3.left_sensor_value} " +
+          "右 #{smalrubot_v3.right_sensor_value}"
         draw_font(string: msg, color: 'black')
         await
       end
@@ -138,49 +129,92 @@ stage1.on(:start) do
   end
 end
 
+THRESHOLD = 400
+
 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')
+    left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
+    right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
 
-      smalrubot_v3.backward(sec: 0.5)
-      smalrubot_v3.turn_left(sec: 0.2)
-
-      next
+    if !left_sensor && !right_sensor
+      smalrubot_v3.forward
     end
 
-    if smalrubot_v3.left_touch_sensor.on?
-      fill(color: 'white')
-      draw_font(string: '左側障害物発見！', color: 'black')
+    loop do
+      if left_sensor || right_sensor
+        if left_sensor && right_sensor
+          fill(color: 'white')
+          draw_font(string: '前方障害物発見！', color: 'black')
+
+          smalrubot_v3.backward
+
+          loop do
+            left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
+            right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
+            if !left_sensor && !right_sensor
+              smalrubot_v3.stop
+              break
+            end
+          end
+
+          if rand(2) == 1
+            smalrubot_v3.turn_left(sec: 0.1)
+          else
+            smalrubot_v3.turn_right(sec: 0.1)
+          end
+        else
+          if right_sensor
+            fill(color: 'white')
+            draw_font(string: '右側障害物発見！', color: 'black')
+
+            #smalrubot_v3.backward(sec: 0.1)
+            smalrubot_v3.turn_left
+
+            loop do
+              left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
+              right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
+              if !left_sensor && !right_sensor
+                smalrubot_v3.stop
+                break
+              end
+            end
+          else
+            if left_sensor
+              fill(color: 'white')
+              draw_font(string: '左側障害物発見！', color: 'black')
+
+              #smalrubot_v3.backward(sec: 0.1)
+              smalrubot_v3.turn_right
+
+              loop do
+                left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
+                right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
+                if !left_sensor && !right_sensor
+                  smalrubot_v3.stop
+                  break
+                end
+              end
+            end
+          end
+        end
+        break
+      end
 
-      smalrubot_v3.backward(sec: 0.5)
-      smalrubot_v3.turn_right(sec: 0.2)
+      if Input.key_down?(K_Y)
+        fill(color: 'white')
+        break
+      end
 
-      next
+      left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
+      right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
     end
 
-    smalrubot_v3.forward(sec: 0.5)
-
     if Input.key_down?(K_Y)
       fill(color: 'white')
+      smalrubot_v3.stop
       break
     end
   end

data/smalruby.gemspec

@@ -40,7 +40,7 @@ Gem::Specification.new do |spec|
   if is_windows
     spec.add_runtime_dependency 'dxruby', '1.4.0'
   else
-    spec.add_runtime_dependency 'dxruby_sdl', '~> 0.0.12'
+    spec.add_runtime_dependency 'dxruby_sdl', '~> 0.0.13'
   end
   spec.add_runtime_dependency 'smalrubot', '~> 0.0.5'
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalruby
 version: !ruby/object:Gem::Version
-  version: 0.1.4
+  version: 0.1.5
 platform: x86-mingw32
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-02-07 00:00:00.000000000 Z
+date: 2015-03-15 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler