Class: RapiroWrapper::Command

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

Overview

Command class for RAPIRO

Instance Method Summary collapse

Constructor Details

#initialize(sequences = []) ⇒ Command

Returns a new instance of Command.



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# File 'lib/rapiro_wrapper/command.rb', line 4

def initialize(sequences = [])
  @sequences = sequences
end

Instance Method Details

#to_sequence(duration = 10) ⇒ Object 



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# File 'lib/rapiro_wrapper/command.rb', line 8

def to_sequence(duration = 10)
  targets = RapiroWrapper::ServoMotor.find_servos + [RapiroWrapper::Eyes]
  seq = targets.inject([]) do |ary, servo|
    s = @sequences.find { |item| item.instance_of?(servo) }
    ary << (s ? s : servo.new)
    ary
  end

  format("#P#{seq.map(&:to_code).join}T%03d", duration)
end