Class: Artoo::Drivers::Motor

Inherits:
Driver
  • Object
show all
Defined in:
lib/artoo/drivers/motor.rb

Overview

L293 or other H-bridge style motor driver behaviors for Firmata

Constant Summary collapse

COMMANDS = 
[:forward, :backward, :stop, :speed, :current_speed].freeze

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(params = {}) ⇒ Motor

Create new Motor



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# File 'lib/artoo/drivers/motor.rb', line 12

def initialize(params={})
  super

  raise "Invalid pins, please pass an array in format [leg1, leg2, speed]" unless (pin && pin.is_a?(Array) && pin.size == 3)
  @leg1_pin = pin[0]
  @leg2_pin = pin[1]
  @speed_pin = pin[2]
  @current_speed = 0
end

Instance Attribute Details

#current_speed ⇒ Object (readonly)

Returns the value of attribute current_speed.



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# File 'lib/artoo/drivers/motor.rb', line 9

def current_speed
  @current_speed
end

#leg1_pin ⇒ Object (readonly)

Returns the value of attribute leg1_pin.



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# File 'lib/artoo/drivers/motor.rb', line 9

def leg1_pin
  @leg1_pin
end

#leg2_pin ⇒ Object (readonly)

Returns the value of attribute leg2_pin.



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# File 'lib/artoo/drivers/motor.rb', line 9

def leg2_pin
  @leg2_pin
end

#speed_pin ⇒ Object (readonly)

Returns the value of attribute speed_pin.



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# File 'lib/artoo/drivers/motor.rb', line 9

def speed_pin
  @speed_pin
end

Instance Method Details

#backward(s) ⇒ Object

Sets movement backward

Parameters:

  • s (Integer) —

    speed



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# File 'lib/artoo/drivers/motor.rb', line 40

def backward(s)
  set_legs(Firmata::PinLevels::HIGH, Firmata::PinLevels::LOW)
  speed(s)
end

#forward(s) ⇒ Object

Sets movement forward

Parameters:

  • s (Integer) —

    speed



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# File 'lib/artoo/drivers/motor.rb', line 33

def forward(s)
  set_legs(Firmata::PinLevels::LOW, Firmata::PinLevels::HIGH)
  speed(s)
end

#speed(s) ⇒ Object

Set motor speed

Parameters:

  • s (Integer) —

    speed (must be an integer between 0-255)



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# File 'lib/artoo/drivers/motor.rb', line 52

def speed(s)
  raise "Motor speed must be an integer between 0-255" unless (s.is_a?(Numeric) && s >= 0 && s <= 255)
  @current_speed = s
  connection.set_pin_mode(speed_pin, Firmata::PinModes::PWM)
  connection.analog_write(speed_pin, s)
end

#start_driver ⇒ Object

Starts connection to read and process and driver



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# File 'lib/artoo/drivers/motor.rb', line 23

def start_driver
  every(interval) do
    connection.read_and_process
  end

  super
end

#stop ⇒ Object

Stops



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# File 'lib/artoo/drivers/motor.rb', line 46

def stop
  speed(0)
end