wall_e 0.0.1 → 0.0.2
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- data/cookbook/Led/blink.rb +1 -1
- data/cookbook/Led/pulse.rb +1 -1
- data/cookbook/Piezo/morse_code.rb +1 -1
- data/cookbook/Servo/sweep.rb +8 -2
- data/lib/wall_e/components/claw.rb +46 -0
- data/lib/wall_e/components/servo.rb +1 -1
- data/lib/wall_e/version.rb +1 -1
- data/lib/wall_e.rb +24 -14
- data/test/claw_test.rb +47 -0
- data/test/servo_test.rb +6 -8
- data/test/test_helper.rb +2 -1
- metadata +5 -2
data/cookbook/Led/blink.rb
CHANGED
data/cookbook/Led/pulse.rb
CHANGED
data/cookbook/Servo/sweep.rb
CHANGED
@@ -2,8 +2,14 @@ require 'bundler/setup'
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2
2
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require 'wall_e'
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3
3
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4
4
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WallE::Assembler.build do
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5
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-
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6
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-
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5
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+
# This example uses a Sparkfun's "Medium" servo.
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6
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+
# (DGServo S05NF STD http://www.sparkfun.com/products/10333)
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7
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+
# Using the range 15..170 appears to be the sweet spot for this servo.
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8
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#
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9
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# YMMV especially if you are using a different servo.
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10
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#
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11
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# The Hitec HS-322 (http://amzn.com/B0006O3XEA) has a range of 2..180.
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12
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+
servo = Servo(9, range: 15..170)
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7
13
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servo.min
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8
14
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9
15
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repeat do
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@@ -0,0 +1,46 @@
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1
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+
require 'forwardable'
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+
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module WallE
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class Claw
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extend Forwardable
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6
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+
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7
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def_delegators :@pan_servo, :min, :max, :center
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8
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+
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9
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+
# Public: Initialize a Claw
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10
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#
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# claw_servo - the Servo controlling the claw.
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12
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# pan_servo - the Servo controlling the pan/tilt bracket.
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13
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+
def initialize(claw_servo, pan_servo)
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14
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@claw_servo = claw_servo
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15
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@pan_servo = pan_servo
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16
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end
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+
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18
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# Public: open the claw.
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19
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#
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# Returns nothing.
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def let_go
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@claw_servo.min
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end
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24
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+
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# Public: close the claw.
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#
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# Returns nothing.
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def grab
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29
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@claw_servo.max
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end
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31
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+
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# Public: Indicates if the claw currently open.
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#
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# Returns truthy/falsy value.
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def open?
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!closed?
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end
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+
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# Public: Indicates if the claw is currently closed.
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#
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# Returns truthy/falsy value.
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def closed?
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@claw_servo.maxed?
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end
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end
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end
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data/lib/wall_e/version.rb
CHANGED
data/lib/wall_e.rb
CHANGED
@@ -3,11 +3,11 @@ require 'wall_e/serial_snoop'
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3
3
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require 'wall_e/pin'
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require 'pry'
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5
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+
# TODO everything in components should be required automagically.
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require 'wall_e/components/led'
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require 'wall_e/components/servo'
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require 'wall_e/components/piezo'
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9
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-
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-
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10
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+
require 'wall_e/components/claw'
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11
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module WallE
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class Assembler
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@@ -15,14 +15,17 @@ module WallE
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attr_reader :board
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def self.build(&block)
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+
wall_e = create
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19
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19
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-
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20
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-
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21
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-
wall_e = new(arduino)
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+
wall_e.instance_eval(&block) if block_given?
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-
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Pry.start(wall_e, :prompt => [ proc { |obj, *| "wall_e > " },
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proc { |obj, *| "wall_e* "} ])
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end
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-
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def self.create
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arduino = SerialSnoop.locate_ports
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new(arduino)
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end
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def initialize(arduino)
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@@ -45,6 +48,7 @@ module WallE
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45
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end
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46
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end
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51
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+
# TODO some metaprogramming sauce to reduce the component helper code.
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def Led(pin_number)
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pin = Pin.new(pin_number, @board)
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Led.new(pin)
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@@ -60,6 +64,12 @@ module WallE
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Piezo.new(pin)
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end
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66
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+
def Claw(claw_pin_number, pan_pin_number)
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claw_servo = Servo(claw_pin_number, range: 60..144)
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pan_servo = Servo(pan_pin_number)
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Claw.new(claw_servo, pan_servo)
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end
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+
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def delay(seconds)
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@board.delay seconds
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end
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@@ -81,13 +91,13 @@ module WallE
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t = Thread.new do
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loop do
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Thread.stop unless @running
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-
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-
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-
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-
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-
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-
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90
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-
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begin
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block.call
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rescue Exception => e
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puts e.message
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puts e.backtrace.inspect
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Thread.kill
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end
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101
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end
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102
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end
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103
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data/test/claw_test.rb
ADDED
@@ -0,0 +1,47 @@
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1
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require_relative 'test_helper'
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2
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require_relative '../lib/wall_e/components/claw'
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4
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class ClawTest < MiniTest::Unit::TestCase
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5
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6
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DummyServo = Class.new
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7
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8
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def test_let_go
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9
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claw_servo = MiniTest::Mock.new
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10
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claw_servo.expect :min, 1
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11
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pan_servo = DummyServo.new
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claw = WallE::Claw.new(claw_servo, pan_servo)
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claw.let_go
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claw_servo.verify
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end
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def test_grab
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claw_servo = MiniTest::Mock.new
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claw_servo.expect :max, 1
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pan_servo = DummyServo.new
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claw = WallE::Claw.new(claw_servo, pan_servo)
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claw.grab
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claw_servo.verify
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end
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31
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def test_tilting
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33
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pan_servo = MiniTest::Mock.new
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pan_servo.expect :min, 1
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35
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pan_servo.expect :max, 1
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pan_servo.expect :center, 1
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claw_servo = DummyServo.new
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+
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claw = WallE::Claw.new(claw_servo, pan_servo)
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40
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claw.min
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claw.max
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43
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claw.center
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45
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pan_servo.verify
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46
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end
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47
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end
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data/test/servo_test.rb
CHANGED
@@ -56,16 +56,14 @@ class ServoTest < MiniTest::Unit::TestCase
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56
56
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end
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57
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58
58
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def test_moving_to_center
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59
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-
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60
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-
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61
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-
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62
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-
pin.expect(:servo_write, 1, [90])
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59
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pin = MiniTest::Mock.new
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pin.expect(:set_mode, 1, [WallE::Pin::SERVO])
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pin.expect(:servo_write, 1, [90])
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64
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-
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-
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servo = WallE::Servo.new(pin)
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servo.center
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65
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-
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-
end
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pin.verify
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end
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end
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data/test/test_helper.rb
CHANGED
metadata
CHANGED
@@ -1,7 +1,7 @@
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1
1
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--- !ruby/object:Gem::Specification
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2
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name: wall_e
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3
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version: !ruby/object:Gem::Version
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4
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-
version: 0.0.
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+
version: 0.0.2
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5
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prerelease:
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platform: ruby
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7
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authors:
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@@ -9,7 +9,7 @@ authors:
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9
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autorequire:
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bindir: bin
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cert_chain: []
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-
date: 2012-09-
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+
date: 2012-09-17 00:00:00.000000000 Z
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dependencies:
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14
14
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- !ruby/object:Gem::Dependency
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name: minitest
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@@ -94,6 +94,7 @@ files:
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94
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- cookbook/Piezo/morse_code.rb
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95
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- cookbook/Servo/sweep.rb
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96
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- lib/wall_e.rb
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97
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+
- lib/wall_e/components/claw.rb
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98
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- lib/wall_e/components/led.rb
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98
99
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- lib/wall_e/components/piezo.rb
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100
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- lib/wall_e/components/servo.rb
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@@ -101,6 +102,7 @@ files:
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101
102
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- lib/wall_e/pin.rb
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102
103
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- lib/wall_e/serial_snoop.rb
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103
104
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- lib/wall_e/version.rb
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105
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+
- test/claw_test.rb
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104
106
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- test/led_test.rb
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105
107
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- test/piezo_test.rb
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106
108
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- test/pin_test.rb
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@@ -133,6 +135,7 @@ signing_key:
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specification_version: 3
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136
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summary: ''
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test_files:
|
138
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+
- test/claw_test.rb
|
136
139
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- test/led_test.rb
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137
140
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- test/piezo_test.rb
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138
141
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- test/pin_test.rb
|