Class: BrickPi::Motor

Inherits:
Object
  • Object
show all
Defined in:
lib/brick_pi/motor.rb

Instance Method Summary collapse

Constructor Details

#initialize(port) ⇒ Motor

Returns a new instance of Motor.



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# File 'lib/brick_pi/motor.rb', line 3

def initialize(port)
  @port = port
  Native::MotorEnable[@port] = 1
end

Instance Method Details

#position ⇒ Object

Encoder reads the position of the motor in .5-degree increments, Divide by 2 to get degrees



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# File 'lib/brick_pi/motor.rb', line 17

def position
  Native::Encoder[@port] / 2
end

#spin(speed) ⇒ Object 



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# File 'lib/brick_pi/motor.rb', line 8

def spin(speed)
  speed = [-100, [100, speed].min].max
  motor_speed = (speed * 2.55).round
  puts motor_speed
  Native::MotorSpeed[@port] = motor_speed
end

#stop ⇒ Object 



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# File 'lib/brick_pi/motor.rb', line 21

def stop
  spin 0
end