Class: Artoo::Drivers::Sphero

Inherits:
Driver
  • Object
show all
Defined in:
lib/artoo/drivers/sphero.rb

Overview

The Sphero driver behaviors

Constant Summary collapse

RED = 
[255, 0,   0]
GREEN = 
[0,   255, 0]
YELLOW = 
[255, 255, 0]
BLUE = 
[0,   0,   255]
WHITE = 
[255, 255, 255]
COMMANDS = 
[:roll, :stop, :detect_collisions, :messages, :set_color, :color].freeze

Instance Method Summary collapse

Instance Method Details

#color(*colors) ⇒ Object

Retrieves color

Parameters:

  • colors (Collection) 


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# File 'lib/artoo/drivers/sphero.rb', line 61

def color(*colors)
  case colors.first
  when :red    then RED
  when :green  then GREEN
  when :yellow then YELLOW
  when :blue   then BLUE
  when :white  then WHITE
  else colors
  end
end

#detect_collisions(params = {}) ⇒ Object

Detects collisions

Parameters:

  • params (Hash) (defaults to: {}) 


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# File 'lib/artoo/drivers/sphero.rb', line 49

def detect_collisions(params={})
  connection.configure_collision_detection 0x01, 0x20, 0x20, 0x20, 0x20, 0x50
end

#handle_message_events ⇒ Object 



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# File 'lib/artoo/drivers/sphero.rb', line 33

def handle_message_events         
  while not connection.messages.empty? do        
    evt = connection.messages.pop
    case 
    when evt.is_a?(::Sphero::Response::CollisionDetected)
      handle_collision_detected(evt)
    when evt.is_a?(::Sphero::Response::PowerNotification)
      handle_power_notification(evt)
    when evt.is_a?(::Sphero::Response::SensorData)
      handle_sensor_data(evt)
    end
  end
end

#set_color(*colors) ⇒ Object

Set color

Parameters:

  • colors (Collection) 


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# File 'lib/artoo/drivers/sphero.rb', line 55

def set_color(*colors)
  connection.rgb(*color(*colors))
end

#start_driver ⇒ Object

Starts drives and required connections



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# File 'lib/artoo/drivers/sphero.rb', line 17

def start_driver
  begin
    detect_collisions

    every(interval) do
      handle_message_events
    end

    super
  rescue Exception => e
    Logger.error "Error starting Sphero driver!"
    Logger.error e.message
    Logger.error e.backtrace.inspect
  end
end