Rapiro Wrapper

A gem providing access to Rapiro with SerialPort.

Installation

gem 'rapiro_wrapper', github: 'tk-hamaguchi/rapiro_wrapper'

And then execute:

$ bundle

Or install it yourself as:

# git clone -b master --depth 1 https://github.com/tk-hamaguchi/rapiro_wrapper.git
# cd rapiro_wrapper/
# gem build rapiro_wrapper.gemspec
# gem install rapiro_wrapper-*.gem

Usage1

Require gem.
```
require 'rapiro_wrapper'
```

Initialize commander. (default: '/dev/ttyAMA0')

rapiro = RapiroWrapper::Body.new

2.1. In another case, initialize with serial port path.

rapiro = RapiroWrapper::Body.new('/dev/tty.usbserial-DA00HMG6')

Set pose.

rapiro.head  = { left:  40 }               ## param is left: 0..90 or right: 0..90
rapiro.waist = { right: 40 }               ## param is left: 0..90 or right: 0..90
rapiro.right_sholder_roll  = { up: 120 }   ## param is up: 0..180  (default:0)
rapiro.right_sholder_pitch = { up: 20  }   ## param is hold: 0..50 or open: 0..50
rapiro.right_hand_grip     = { open: 10 }  ## param is hold: 0..50 or open: 0..50
rapiro.left_sholder_roll  = { up: 20 }     ## param is up: 0..180  (default:0)
rapiro.left_sholder_pitch = { up: 70 }     ## param is up: 0..90  (default:0)
rapiro.left_hand_grip     = { hold: 0 }    ## param is hold: 0..50 or open: 0..50
rapiro.right_foot_yaw   = { close: 10 }    ## param is close: 0..60 or open: 0..60
rapiro.right_foot_pitch = { open:  30 }    ## param is close: 0..40 or open: 0..40
rapiro.left_foot_yaw   = { open:  0 }      ## param is close: 0..60 or open: 0..60
rapiro.left_foot_pitch = { close: 0 }      ## param is close: 0..40 or open: 0..40
rapiro.eyes = '#808000'                    ## param is web color code for example #000000 or hash({red: 255, green: 255, blue: 0})

Execute. (default: 10)
```
rapiro.execute!
```
4.1. In another case, execute with duration.
```
rapiro.execute!(90)  ## param is 0..127
```

Usage2

Require gem.
```
require 'rapiro_wrapper'
```

Initialize commander with serial port path. (default: '/dev/ttyAMA0')

commander = RapiroWrapper::Commander.new('/dev/tty.usbserial-DA00HMG6')

Execute commands

## generate command sequences
sequences = [
## param is left: 0..90 or right: 0..90
RapiroWrapper::Head.new( left: 30 ),

## param is left: 0..90 or right: 0..90 RapiroWrapper::Waist.new( right: 30 ),

## param is up: 0..180 (default:0) RapiroWrapper::RightSholderRoll.new( up: 160 ),

## param is up: 0..90 (default:0) RapiroWrapper::RightSholderPitch.new( up: 20 ),

## param is hold: 0..50 or open: 0..50 RapiroWrapper::RightHandGrip.new( hold: 0 ),

## param is up: 0..180 (default:0) RapiroWrapper::LeftSholderRoll.new( up: 30 ),

## param is up: 0..90 (default:0) RapiroWrapper::LeftSholderPitch.new( up: 20 ),

## param is hold: 0..50 or open: 0..50 RapiroWrapper::LeftHandGrip.new( open: 0 ),

## param is close: 0..60 or open: 0..60 RapiroWrapper::RightFootYaw.new( open: 30 ),

## param is close: 0..40 or open: 0..40 RapiroWrapper::RightFootPitch.new( open: 5 ),

## param is close: 0..60 or open: 0..60 RapiroWrapper::LeftFootYaw.new( close: 20 ),

## param is close: 0..40 or open: 0..40 RapiroWrapper::LeftFootPitch.new( close: 0 ),

## param is web color code for example #000000 or hash RapiroWrapper::Eyes.new('#00ff00') ]

set duration by milliseconds. (default:10)

duration = 10

Execute

commander.execute!(sequences, duration)



4. Return to defaults
``` ruby
commander.execute!([])

Contributing

Fork it ( https://github.com/tk-hamaguchi/rapiro_wrapper/fork )
Create your feature branch (git checkout -b my-new-feature)
Commit your changes (git commit -am 'Add some feature')
Push to the branch (git push origin my-new-feature)
Create a new Pull Request