Class: RapiroWrapper::LeftHandGrip

Inherits:
ServoMotor show all
Defined in:
lib/rapiro_wrapper/servo_motor/left_hand_grip.rb

Overview

LeftHandGrip for RAPIRO

Constant Summary collapse

NO = 
7
DEFAULT = 
90
MIN = 
60
MAX = 
110

Instance Method Summary collapse

Methods inherited from ServoMotor

code, find_servos, #to_code

Constructor Details

#initialize(hold: nil, open: nil) ⇒ LeftHandGrip

Returns a new instance of LeftHandGrip.



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# File 'lib/rapiro_wrapper/servo_motor/left_hand_grip.rb', line 9

def initialize(hold: nil, open: nil)
  fail ArgumentError if open && hold
  if hold
    @value = MAX - hold
  elsif open
    @value = MIN + open
  else
    @value = DEFAULT
  end
  fail ArgumentError unless @value.between?(MIN, MAX)
end