Class: Icaro

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

Instance Method Summary collapse

Constructor Details

#initialize ⇒ Icaro

look for the device ttyACM initialize the device and check if Icaro board is conected and set while icaro load the device may not be ready so we manage it with a rescue icaro board is normally recognice as a /dev/ttyACM0 how ever in some cases it sets on /dev/ttyACM1 so we read the device and set verify if its ready



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# File 'lib/icaro.rb', line 14

def initialize
	tty=Dir["/dev/ttyACM*"]
	unless tty.count==0
tty.each do |device|	
  begin
	@sp=SerialPort::new(device,{"baud"=>9600, "data_bits"=>8, "stop_bits"=>1, "parity"=>0})
	@sp.read_timeout=128
	@sp.write('b')
	ttyread=@sp.read
	if ttyread.include?("icaro") 
		return true
	else 	
		return false
	end
  rescue Errno::EACCES => ex
	STDERR.puts ex.message + 'hint: Add your user to group dialout'
  rescue Errno::ENODEV => ex
	STDERR.puts ex.message
         rescue Errno::EBUSY => ex
	STDERR.puts ex.message
  rescue Errno::EIO => ex
	STDERR.puts ex.message
  rescue IOError => ex
	STDERR.puts ex.message
         end		
end
	else
puts "Please connect Icaro"
	end 
end

Instance Method Details

#close ⇒ Object Also known as: cerrar 



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# File 'lib/icaro.rb', line 45

def close 
  begin
    @sp.close
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end
end

#motor(value) ⇒ Object

Motor move robot DC motors 1 forward 2 back 3 left 4 right 5 stop values are strings icaro.motor(‘1’) move icaro forward



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# File 'lib/icaro.rb', line 83

def motor(value)
  if [1,2,3,4,5].include?(value.to_i)
   begin
	@sp.write('l')
	@sp.write(value)
      return true
   rescue Errno::EIO => ex
      STDERR.puts ex.message
   rescue IOError => ex
      return ex
   end
  else
   return false
  end
end

#read_analog(value) ⇒ Object Also known as: leer_analogico

read analog input sensors there are 8 analog input ports icaro.read_analog(‘3’)



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# File 'lib/icaro.rb', line 102

def read_analog(value)
   if [1,2,3,4,5,6,7,8].include?(value.to_i)
    begin
	@sp.write('e')
	@sp.write(value)
	return @sp.read
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
      return ex
    end
   else
  	return false
   end
end

#read_digital(value) ⇒ Object Also known as: leer_digital

read digital input sensor there are 4 digital input sensors ports d=icaro.read_digital(‘3’)



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# File 'lib/icaro.rb', line 123

def read_digital(value)
  if [1,2,3,4].include?(value.to_i)
    begin
	@sp.write('d')
	@sp.write(value)
	return @sp.read==1 ? 1:0
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
      return ex
    end
  else
    return false
  end
end

#servo(servo, value) ⇒ Object Also known as: activar_servo

move servo motors Icaro board has 5 servo engines ports value is one of 255 integer and move the engine to that position icaro.servo(‘1’,‘x’)



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# File 'lib/icaro.rb', line 145

def servo(servo,value)
  if [1,2,3,4,5].include?(servo.to_i)
    begin
	@sp.write('m')
	@sp.write(servo)
	@sp.write(value.to_i)
	return true
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
	return ex
    end
  else
	return false
  end
end

#sound(audio, value) ⇒ Object Also known as: sonido

sound produce a sound on the port icaro.sound(‘2’,‘2’)



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# File 'lib/icaro.rb', line 166

def sound(audio,value)
  begin
	@sp.write('a')
	@sp.write(audio)
	@sp.write(value)
	sleep(0.01)
	@sp.write('s')
	@sp.write('0')
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end

end

#start(value) ⇒ Object Also known as: activar

icaro.start(‘1’)



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# File 'lib/icaro.rb', line 60

def start(value)
  begin
	@sp.write('s')
	@sp.write(value)
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end
end