Class: RoboticArm

Inherits:
Object
  • Object
show all
Includes:
Session
Defined in:
lib/robotic-arm.rb

Defined Under Namespace

Classes: Base, Component, ComponentMoving, ComponentUpDown, Elbow, Gripper, Led, Shoulder, Wrist

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Session

#record, #recording, #recording?

Constructor Details

#initialize ⇒ RoboticArm

Returns a new instance of RoboticArm.



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# File 'lib/robotic-arm.rb', line 328

def initialize()

  # Get the device object
  usb = LIBUSB::Context.new
  arm = usb.devices(:idVendor => 0x1267, :idProduct => 0x0000).first

  (puts "Arm not found!"; exit) unless arm

  # Take control of the device
  @handle = arm.open
  @handle.claim_interface(0)

  @led      = Led.new      self 
  @wrist    = Wrist.new    self
  @elbow    = Elbow.new    self
  @shoulder = Shoulder.new self
  @base     = Base.new     self
  @grip     = Gripper.new  self
  @register = [OFF,OFF,OFF]
  
  @light, @gripper = @led, @grip  #aliases
end

Instance Attribute Details

#base ⇒ Object (readonly)

Returns the value of attribute base.



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# File 'lib/robotic-arm.rb', line 184

def base
  @base
end

#elbow ⇒ Object (readonly)

Returns the value of attribute elbow.



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# File 'lib/robotic-arm.rb', line 184

def elbow
  @elbow
end

#grip ⇒ Object (readonly)

Returns the value of attribute grip.



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# File 'lib/robotic-arm.rb', line 184

def grip
  @grip
end

#gripper ⇒ Object (readonly)

aliases for :led and :grip



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# File 'lib/robotic-arm.rb', line 185

def gripper
  @gripper
end

#led ⇒ Object (readonly)

Returns the value of attribute led.



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# File 'lib/robotic-arm.rb', line 184

def led
  @led
end

#light ⇒ Object (readonly)

aliases for :led and :grip



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# File 'lib/robotic-arm.rb', line 185

def light
  @light
end

#shoulder ⇒ Object (readonly)

Returns the value of attribute shoulder.



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# File 'lib/robotic-arm.rb', line 184

def shoulder
  @shoulder
end

#wrist ⇒ Object (readonly)

Returns the value of attribute wrist.



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# File 'lib/robotic-arm.rb', line 184

def wrist
  @wrist
end

Instance Method Details

#command(switch, val) ⇒ Object

register and invoke the robotic action



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# File 'lib/robotic-arm.rb', line 359

def command(switch, val)

  @register[switch] += val
  handle_command    

  if recording? then
    
    commands = {
        '21' => [:light,    :on],     '2-1' => [:light,    :off],
        '02' => [:gripper,  :open],    '01' => [:gripper,  :close],
       '0-2' => [:gripper,  :stop],   '0-1' => [:gripper,  :stop],
        '04' => [:wrist,    :up],      '08' => [:wrist,    :down],
       '0-4' => [:wrist,    :stop],   '0-8' => [:wrist,    :stop],
       '016' => [:elbow,    :up],     '032' => [:elbow,    :down],              
      '0-16' => [:elbow,    :stop],  '0-32' => [:elbow,    :stop], 
       '064' => [:shoulder, :up],    '0128' => [:shoulder, :down],
      '0-64' => [:shoulder, :stop], '0-128' => [:shoulder, :stop],        
        '12' => [:base,     :left],    '11' => [:base,     :right],
       '1-2' => [:base,     :stop],   '1-1' => [:base,     :stop]        
    }
    
    classname, methodname = *commands[switch.to_s + val.to_s]

    record classname, methodname
  end
end

#down(seconds = 0) ⇒ Object 



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# File 'lib/robotic-arm.rb', line 355

def down (seconds=0)  @shoulder.down  seconds  end

#inspect ⇒ Object 



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# File 'lib/robotic-arm.rb', line 351

def inspect() '#<RoboticArm:>' end

#left(seconds = 0) ⇒ Object 



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# File 'lib/robotic-arm.rb', line 352

def left (seconds=0)  @base.left      seconds  end

#off ⇒ Object

turn off all active signals



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# File 'lib/robotic-arm.rb', line 388

def off()        
  stop
  @handle.release_interface(0)
end

#right(seconds = 0) ⇒ Object 



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# File 'lib/robotic-arm.rb', line 353

def right(seconds=0)  @base.right     seconds  end

#stop ⇒ Object

stop all robotic movement



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# File 'lib/robotic-arm.rb', line 395

def stop()
  [wrist, elbow, shoulder, base, grip].each do |motor| 
    motor.stop if motor.moving?
  end
  led.off if led.on?    
  nil
end

#up(seconds = 0) ⇒ Object 



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# File 'lib/robotic-arm.rb', line 354

def up   (seconds=0)  @shoulder.up    seconds  end