Class: Mi100

Inherits:
Object
  • Object
show all
Defined in:
lib/mi100/morsecoder.rb,
lib/mi100.rb,
lib/mi100/version.rb

Overview

morsecoder.rb Copyright © 2014 Masami Yamakawa

This software is released under the MIT License. opensource.org/lisenses/mit-license.php

Defined Under Namespace

Classes: Morsecoder

Constant Summary collapse

DEFAULT_RETRIES = 
5
READ_TIMEOUT = 
5000
WRITE_TIMEOUT = 
5000
SHORT_READ_TIMEOUT = 
1
CMD_PING = 
"H"
CMD_GET_POWER_LEVEL = 
"H"
CMD_STOP = 
"S"
CMD_MOVE_FORWARD = 
"F"
CMD_MOVE_BACKWARD = 
"B"
CMD_SPIN_RIGHT = 
"R"
CMD_SPIN_LEFT = 
"L"

"D"
CMD_TONE = 
"T"
CMD_GET_LIGHT = 
"P"
CMD_TURN_RIGHT = 
"U"
CMD_TURN_LEFT = 
"A"
CMD_SET_SPEED = 
"W"
CMD_FREE_RAM = 
"M"
CMD_TURN_LED_RGB = 
"V"
CMD_DRIVE = 
"Z"
DEFAULT_SPEED = 
1023
DEFAULT_MOVE_DURATION = 
300
DEFAULT_SPIN_DURATION = 
140
DEFAULT_DRIVE_DURATION = 
50

600
DEFAULT_TONE_DURATION = 
300
DEFAULT_MOVE_DIRECTION = 
"FORWARD"
DEFAULT_SPIN_DIRECTION = 
"RIGHT"
FREQUENCY = 
{ DO:   262,
  DOS:  277,
  RE:   294,
  RES:  311,
  MI:   330,
  FA:   349,
  FAS:  370,
  SO:   392,
  SOS:  415,
  LA:   440,
  LAS:  466,
  SI:   494,
  HDO:  523,
  HDOS: 554,
  HRE:  587,
  HRES: 622,
  HMI:  659,
  HFA:  698,
  HFAS: 740,
  HSO:  784,
  HSOS: 831,
  HLA:  880,
  HSI:  988,
}
VERSION = 
"0.4.2"

Instance Method Summary collapse

Constructor Details

#initialize(dev) ⇒ Mi100

Returns a new instance of Mi100.



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# File 'lib/mi100.rb', line 72

def initialize(dev)
  retries_left = DEFAULT_RETRIES
  begin
    initialize_serialport dev
  rescue Errno::ENOENT
    puts "Retry Bluetooth connection: #{retries_left.to_s}"
    retries_left -= 1
    retry unless retries_left < 0
    puts "Bluetooth connection failed."
    raise
  end

  initialize_robo
end

Instance Method Details

#bad ⇒ Object 



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# File 'lib/mi100.rb', line 273

def bad
  duration = 400.0
  freq = 100
  tone freq, duration
  sleep duration / 1000.0
end

#blink(r = nil, g = nil, b = nil, duration = DEFAULT_BLINK_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 218

def blink(r = nil, g = nil, b = nil, duration = DEFAULT_BLINK_DURATION)
  r ||= rand(100)+1
  g ||= rand(100)+1
  b ||= rand(100)+1
  r = 100 if r > 100
  g = 100 if g > 100
  b = 100 if b > 100
  send_command_get_response "#{CMD_BLINK_LED},#{r.to_s},#{g.to_s},#{b.to_s},#{duration.to_s}"
end

#close ⇒ Object 



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# File 'lib/mi100.rb', line 87

def close
  sleep 2
  @sp.close
end

#drive(right_speed, left_speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 157

def drive(right_speed, left_speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
end

#drive!(right_speed, left_speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 193

def drive!(right_speed, left_speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
end

#drive_duration(duration = DEFAULT_DRIVE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 210

def drive_duration(duration = DEFAULT_DRIVE_DURATION)
  @drive_duration = duration
end

#drive_left(turn_speed, speed = @speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 165

def drive_left(turn_speed, speed = @speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
end

#drive_left!(turn_speed, speed = @speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 201

def drive_left!(turn_speed, speed = @speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
end

#drive_right(turn_speed, speed = @speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 161

def drive_right(turn_speed, speed = @speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
end

#drive_right!(turn_speed, speed = @speed, duration = @drive_duration) ⇒ Object 



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# File 'lib/mi100.rb', line 197

def drive_right!(turn_speed, speed = @speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
end

#free_ram ⇒ Object 



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# File 'lib/mi100.rb', line 214

def free_ram
  send_command_get_response "#{CMD_FREE_RAM}"
end

#good ⇒ Object 



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# File 'lib/mi100.rb', line 264

def good
  freqs = [440,880,1760]
  duration = 100.0
  freqs.each do |freq|
    tone freq, duration
    sleep duration / 1000.0
  end
end

#led_off ⇒ Object 



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# File 'lib/mi100.rb', line 236

def led_off
  turn_led(0,0,0)
end

#led_on ⇒ Object 



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# File 'lib/mi100.rb', line 232

def led_on
  turn_led(100,100,100)
end

#light ⇒ Object 



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# File 'lib/mi100.rb', line 102

def light
  response = send_command_get_response CMD_GET_LIGHT
  response[1].to_i
end

#morse_frequency ⇒ Object 



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# File 'lib/mi100.rb', line 285

def morse_frequency
  Morsecoder.default_frequency
end

#morse_frequency=(frequency) ⇒ Object 



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# File 'lib/mi100.rb', line 289

def morse_frequency=(frequency)
  Morsecoder.default_frequency = frequency
end

#morse_unit ⇒ Object 



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# File 'lib/mi100.rb', line 293

def morse_unit
  Morsecoder.default_unit
end

#morse_unit=(millisec) ⇒ Object 



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# File 'lib/mi100.rb', line 297

def morse_unit=(millisec)
  Morsecoder.default_unit = millisec
end

#move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 107

def move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION)
  cmd = direction.upcase == "BACKWARD" ? CMD_MOVE_BACKWARD : CMD_MOVE_FORWARD
  send_command_get_response "#{cmd},#{duration.to_s}"
end

#move_backward(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 121

def move_backward(duration)
  send_command_get_response "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
end

#move_backward!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 173

def move_backward!(duration)
  sendln "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
end

#move_forward(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 117

def move_forward(duration)
  send_command_get_response "#{CMD_MOVE_FORWARD},#{duration.to_s}"
end

#move_forward!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 169

def move_forward!(duration)
  sendln "#{CMD_MOVE_FORWARD},#{duration.to_s}"
end

#moveb(duration = DEFAULT_MOVE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 145

def moveb(duration = DEFAULT_MOVE_DURATION)
  move_backward duration
end

#movef(duration = DEFAULT_MOVE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 141

def movef(duration = DEFAULT_MOVE_DURATION)
  move_forward duration
end

#ping ⇒ Object 



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# File 'lib/mi100.rb', line 92

def ping
  send_command_get_response CMD_PING
end

#power ⇒ Object 



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# File 'lib/mi100.rb', line 96

def power
  response = send_command_get_response CMD_GET_POWER_LEVEL
  voltage = response[1].to_i / 1000.0
  voltage.round 2
end

#sound(pitch = "?", duration = DEFAULT_TONE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 251

def sound(pitch = "?", duration = DEFAULT_TONE_DURATION)

  if pitch.instance_of?(String)
    pitch = FREQUENCY.keys[rand(FREQUENCY.size)].to_s if pitch == "?"
    frequency = FREQUENCY[pitch.upcase.to_sym]
  else
    frequency = pitch
  end

  tone frequency, duration if frequency
  sleep duration.to_f / 1000.0
end

#speed(pwm_value = DEFAULT_SPEED) ⇒ Object 



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# File 'lib/mi100.rb', line 205

def speed(pwm_value = DEFAULT_SPEED)
  @speed = pwm_value
  send_command_get_response "#{CMD_SET_SPEED},#{pwm_value.to_s}"
end

#spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 112

def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
  cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
  send_command_get_response "#{cmd},#{duration.to_s}"
end

#spin_left(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 129

def spin_left(duration)
  send_command_get_response "#{CMD_SPIN_LEFT},#{duration.to_s}"
end

#spin_left!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 181

def spin_left!(duration)
  sendln "#{CMD_SPIN_LEFT},#{duration.to_s}"
end

#spin_right(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 125

def spin_right(duration)
  send_command_get_response "#{CMD_SPIN_RIGHT},#{duration.to_s}"
end

#spin_right!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 177

def spin_right!(duration)
  sendln "#{CMD_SPIN_RIGHT},#{duration.to_s}"
end

#spinl(duration = DEFAULT_SPIN_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 153

def spinl(duration = DEFAULT_SPIN_DURATION)
  spin_left duration
end

#spinr(duration = DEFAULT_SPIN_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 149

def spinr(duration = DEFAULT_SPIN_DURATION)
  spin_right duration
end

#stop ⇒ Object 



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# File 'lib/mi100.rb', line 240

def stop
  send_command_get_response CMD_STOP
end

#talk(str) ⇒ Object 



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# File 'lib/mi100.rb', line 280

def talk(str)
  morsecoder = Morsecoder.new str
  morsecoder.each {|frequency, duration| sound(frequency,duration)}
end

#tone(frequency = nil, duration = DEFAULT_TONE_DURATION) ⇒ Object 



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# File 'lib/mi100.rb', line 244

def tone(frequency = nil, duration = DEFAULT_TONE_DURATION)
  frequency ||= rand(4186 - 28) + 28
  frequency = 4186 if frequency > 4186
  frequency = 28 if frequency < 28
  send_command_get_response "#{CMD_TONE},#{frequency.to_s},#{duration.to_s}"
end

#turn_led(r = 0, g = 0, b = 0) ⇒ Object 



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# File 'lib/mi100.rb', line 228

def turn_led(r = 0, g = 0, b = 0)
  send_command_get_response "#{CMD_TURN_LED_RGB},#{r.to_s},#{g.to_s},#{b.to_s}"
end

#turn_left(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 137

def turn_left(duration)
  send_command_get_response "#{CMD_TURN_LEFT},#{duration.to_s}"
end

#turn_left!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 189

def turn_left!(duration)
  sendln "#{CMD_TURN_LEFT},#{duration.to_s}"
end

#turn_right(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 133

def turn_right(duration)
  send_command_get_response "#{CMD_TURN_RIGHT},#{duration.to_s}"
end

#turn_right!(duration) ⇒ Object 



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# File 'lib/mi100.rb', line 185

def turn_right!(duration)
  sendln "#{CMD_TURN_RIGHT},#{duration.to_s}"
end