Class: FB::OutgoingHandler

Inherits:
Object
  • Object
show all
Defined in:
lib/arduino/outgoing_handler.rb

Overview

Responsible for writing to the serial line. Sends Gcode from the pi to the arduino. (Pi -> Arduino)

Defined Under Namespace

Classes: UnhandledGcode

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(bot) ⇒ OutgoingHandler

Returns a new instance of OutgoingHandler.



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# File 'lib/arduino/outgoing_handler.rb', line 9

def initialize(bot)
  @bot = bot
end

Instance Attribute Details

#bot ⇒ Object (readonly)

Returns the value of attribute bot.



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# File 'lib/arduino/outgoing_handler.rb', line 5

def bot
  @bot
end

Instance Method Details

#emergency_stop ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 13

def emergency_stop(*)
  # This message is special- it is the only method that bypasses the queue.
  bot.outbound_queue = []  # Dump pending commands.
  bot.serial_port.puts "E" # Don't queue this one- write to serial line.
  bot.status[:last] = :emergency_stop
end

#home_all ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 44

def home_all
  write "G28"
end

#home_x ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 32

def home_x
  write "F11"
end

#home_y ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 36

def home_y
  write "F12"
end

#home_z ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 40

def home_z
  write "F13"
end

#move_absolute(x: 0, y: 0, z: 0, s: 100) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 28

def move_absolute(x: 0, y: 0, z: 0, s: 100)
  write "G00 X#{x} Y#{y} Z#{z}"
end

#move_relative(x: 0, y: 0, z: 0, s: 100) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 20

def move_relative(x: 0, y: 0, z: 0, s: 100)
  x = [(bot.current_position.x +  (x || 0)), 0].max
  y = [(bot.current_position.y +  (y || 0)), 0].max
  z = [(bot.current_position.z +  (z || 0)), 0].max

  write { FB::Gcode.new { "G00 X#{x} Y#{y} Z#{z}" } }
end

#pin_write(pin:, value:, mode:) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 60

def pin_write(pin:, value:, mode:)
  write "F41 P#{pin} V#{value} M#{mode}"
  bot.status.set_pin(pin, value)
end

#read_parameter(num) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 48

def read_parameter(num)
  write "F21 P#{num}"
end

#read_status(pin) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 56

def read_status(pin)
  write "F31 P#{pin}"
end

#write_parameter(num, val) ⇒ Object 



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# File 'lib/arduino/outgoing_handler.rb', line 52

def write_parameter(num, val)
  write "F22 P#{num} V#{val}"
end