Class: ServoCalibrateContinuous

Inherits:
ArduinoSketch show all
Defined in:
lib/examples/servo_calibrate_continuous.rb

Instance Attribute Summary

Attributes inherited from ArduinoSketch

#pins

Instance Method Summary collapse

Methods inherited from ArduinoSketch

#add, add_to_setup, #array, #assembler, #comment_box, #compose_setup, #define, #delay, #digitalWrite, #formatted_print, #initialize, #input_pin, #input_pins, output_pin, #output_pin, post_process_ruby_to_c_methods, pre_process, #serial_begin

Methods included from ExternalVariableProcessing

#c_type, #check_variable_type, #post_process_arrays, #post_process_vars, #pre_process_vars, #process_external_vars, #translate_variables

Constructor Details

This class inherits a constructor from ArduinoSketch

Instance Method Details

#delay_servo(t) ⇒ Object 



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# File 'lib/examples/servo_calibrate_continuous.rb', line 85

def delay_servo(t)
  t.times do
    delay 1
    servo_refresh
  end
end

#loop ⇒ Object 



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# File 'lib/examples/servo_calibrate_continuous.rb', line 50

def loop
  if @test_state == 2

    40.times { blink led, 50 }    # 40 x 50 ms is a 2 second blinking light
                                  #  ** Warning! **  "... danger Will Robinson!"
    toggle led                    # turn it on keep it on -- keep hands away
    servo1.speed -90
    servo2.speed -90
    servo3.speed -90
    servo4.speed -90
    delay_servo 2000              # two full seconds max clockwise
    servo1.speed 90
    servo2.speed 90
    servo3.speed 90
    servo4.speed 90
    delay_servo 2000              # two full seconds max counter clockwise
    
    @test_state = 1               # setup for zero speed test/adjust
    @cycle_time = millis + 20000
    servo1.speed 0
    servo2.speed 0
    servo3.speed 0
    servo4.speed 0
    toggle led                    # lights off, OK  you have 20 seconds to adjust
  end

  if @cycle_time - millis <= 0
      @test_state = 2
  else
      servo_refresh
  end
      
end