wall_e 0.0.1 → 0.0.2

data/cookbook/Led/blink.rb

@@ -3,7 +3,7 @@ require 'wall_e'
 
 WallE::Assembler.build do
 
-  led = Led(9)
+  led = Led(3)
   rate = 0.75
 
   repeat do

data/cookbook/Led/pulse.rb

@@ -3,7 +3,7 @@ require 'wall_e'
 
 WallE::Assembler.build do
 
-  led = Led(9)
+  led = Led(5)
 
   direction = 1000 / (255 * 2)
 

data/cookbook/Piezo/morse_code.rb

@@ -75,7 +75,7 @@ class MorseCode
 end
 
 WallE::Assembler.build do
-  piezo = Piezo(9)
+  piezo = Piezo(6)
 
   mc = MorseCode.new(piezo)
 

data/cookbook/Servo/sweep.rb

@@ -2,8 +2,14 @@ require 'bundler/setup'
 require 'wall_e'
 
 WallE::Assembler.build do
-
-  servo = Servo(9)
+  # This example uses a Sparkfun's "Medium" servo.
+  # (DGServo S05NF STD http://www.sparkfun.com/products/10333)
+  # Using the range 15..170 appears to be the sweet spot for this servo.
+  #
+  # YMMV especially if you are using a different servo.
+  #
+  # The Hitec HS-322 (http://amzn.com/B0006O3XEA) has a range of 2..180.
+  servo = Servo(9, range: 15..170)
   servo.min
 
   repeat do

data/lib/wall_e/components/claw.rb

@@ -0,0 +1,46 @@
+require 'forwardable'
+
+module WallE
+  class Claw
+    extend Forwardable
+
+    def_delegators :@pan_servo, :min, :max, :center
+
+    # Public: Initialize a Claw
+    #
+    # claw_servo - the Servo controlling the claw.
+    # pan_servo  - the Servo controlling the pan/tilt bracket.
+    def initialize(claw_servo, pan_servo)
+      @claw_servo = claw_servo
+      @pan_servo = pan_servo
+    end
+
+    # Public: open the claw.
+    #
+    # Returns nothing.
+    def let_go
+      @claw_servo.min
+    end
+
+    # Public: close the claw.
+    #
+    # Returns nothing.
+    def grab
+      @claw_servo.max
+    end
+
+    # Public: Indicates if the claw currently open.
+    #
+    # Returns truthy/falsy value.
+    def open?
+      !closed?
+    end
+
+    # Public: Indicates if the claw is currently closed.
+    #
+    # Returns truthy/falsy value.
+    def closed?
+      @claw_servo.maxed?
+    end
+  end
+end

data/lib/wall_e/components/servo.rb

@@ -31,7 +31,7 @@ module WallE
     #
     # Returns nothing.
     def center
-      move_to ((min + max) / 2).abs
+      move_to ((@range.min + @range.max) / 2).abs
     end
 
     # Public: Move the servo.

data/lib/wall_e/version.rb

@@ -1,3 +1,3 @@
 module WallE
-  VERSION = "0.0.1"
+  VERSION = "0.0.2"
 end

data/lib/wall_e.rb

@@ -3,11 +3,11 @@ require 'wall_e/serial_snoop'
 require 'wall_e/pin'
 require 'pry'
 
+# TODO everything in components should be required automagically.
 require 'wall_e/components/led'
 require 'wall_e/components/servo'
 require 'wall_e/components/piezo'
-
-
+require 'wall_e/components/claw'
 
 module WallE
   class Assembler
@@ -15,14 +15,17 @@ module WallE
     attr_reader :board
 
     def self.build(&block)
+      wall_e = create
 
-      arduino = SerialSnoop.locate_ports
-
-      wall_e = new(arduino)
+      wall_e.instance_eval(&block) if block_given?
 
-      wall_e.instance_eval(&block)
+      Pry.start(wall_e, :prompt => [ proc { |obj, *| "wall_e > " },
+                                     proc { |obj, *| "wall_e* "} ])
+    end
 
-      Pry.start(wall_e, :prompt => [ proc { |obj, *| "wall_e > " }, proc { |obj, *| "wall_e* "} ])
+    def self.create
+      arduino = SerialSnoop.locate_ports
+      new(arduino)
     end
 
     def initialize(arduino)
@@ -45,6 +48,7 @@ module WallE
       end
     end
 
+    # TODO some metaprogramming sauce to reduce the component helper code.
     def Led(pin_number)
       pin = Pin.new(pin_number, @board)
       Led.new(pin)
@@ -60,6 +64,12 @@ module WallE
       Piezo.new(pin)
     end
 
+    def Claw(claw_pin_number, pan_pin_number)
+      claw_servo = Servo(claw_pin_number, range: 60..144)
+      pan_servo  = Servo(pan_pin_number)
+      Claw.new(claw_servo, pan_servo)
+    end
+
     def delay(seconds)
       @board.delay seconds
     end
@@ -81,13 +91,13 @@ module WallE
       t = Thread.new do
         loop do
           Thread.stop unless @running
-            begin
-              block.call
-            rescue Exception => e
-              puts e.message
-              puts e.backtrace.inspect
-              Thread.kill
-            end
+          begin
+            block.call
+          rescue Exception => e
+            puts e.message
+            puts e.backtrace.inspect
+            Thread.kill
+          end
         end
       end
 

data/test/claw_test.rb

@@ -0,0 +1,47 @@
+require_relative 'test_helper'
+require_relative '../lib/wall_e/components/claw'
+
+class ClawTest < MiniTest::Unit::TestCase
+
+  DummyServo = Class.new
+
+  def test_let_go
+    claw_servo = MiniTest::Mock.new
+    claw_servo.expect :min, 1
+    pan_servo = DummyServo.new
+
+    claw = WallE::Claw.new(claw_servo, pan_servo)
+
+    claw.let_go
+
+    claw_servo.verify
+  end
+
+  def test_grab
+    claw_servo = MiniTest::Mock.new
+    claw_servo.expect :max, 1
+    pan_servo = DummyServo.new
+
+    claw = WallE::Claw.new(claw_servo, pan_servo)
+
+    claw.grab
+
+    claw_servo.verify
+  end
+
+  def test_tilting
+    pan_servo = MiniTest::Mock.new
+    pan_servo.expect :min, 1
+    pan_servo.expect :max, 1
+    pan_servo.expect :center, 1
+    claw_servo = DummyServo.new
+
+    claw = WallE::Claw.new(claw_servo, pan_servo)
+
+    claw.min
+    claw.max
+    claw.center
+
+    pan_servo.verify
+  end
+end

data/test/servo_test.rb

@@ -56,16 +56,14 @@ class ServoTest < MiniTest::Unit::TestCase
   end
 
   def test_moving_to_center
-    def test_moving_to_min
-      pin = MiniTest::Mock.new
-      pin.expect(:set_mode, 1, [WallE::Pin::SERVO])
-      pin.expect(:servo_write, 1, [90])
+    pin = MiniTest::Mock.new
+    pin.expect(:set_mode, 1, [WallE::Pin::SERVO])
+    pin.expect(:servo_write, 1, [90])
 
-      servo = WallE::Servo.new(pin)
-      servo.center
+    servo = WallE::Servo.new(pin)
+    servo.center
 
-      pin.verify
-    end
+    pin.verify
   end
 
 end

data/test/test_helper.rb

@@ -1,3 +1,4 @@
 gem 'minitest' # use the gem version of minitest not the version bundled with 1.9.3
 require 'minitest/autorun'
-require 'minitest/pride'
+require 'minitest/pride'
+require_relative '../lib/wall_e/pin'

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: wall_e
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.0.2
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-09-11 00:00:00.000000000 Z
+date: 2012-09-17 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: minitest
@@ -94,6 +94,7 @@ files:
 - cookbook/Piezo/morse_code.rb
 - cookbook/Servo/sweep.rb
 - lib/wall_e.rb
+- lib/wall_e/components/claw.rb
 - lib/wall_e/components/led.rb
 - lib/wall_e/components/piezo.rb
 - lib/wall_e/components/servo.rb
@@ -101,6 +102,7 @@ files:
 - lib/wall_e/pin.rb
 - lib/wall_e/serial_snoop.rb
 - lib/wall_e/version.rb
+- test/claw_test.rb
 - test/led_test.rb
 - test/piezo_test.rb
 - test/pin_test.rb
@@ -133,6 +135,7 @@ signing_key:
 specification_version: 3
 summary: ''
 test_files:
+- test/claw_test.rb
 - test/led_test.rb
 - test/piezo_test.rb
 - test/pin_test.rb