Class: WiiRoboticArm

Inherits:
SimpleWiimote
  • Object
show all
Defined in:
lib/wii-robotic-arm.rb

Instance Method Summary collapse

Constructor Details

#initialize ⇒ WiiRoboticArm

Returns a new instance of WiiRoboticArm.



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# File 'lib/wii-robotic-arm.rb', line 10

def initialize()
  super()
  @ra = RoboticArm.new
  @played = nil
  @terminator = ['home']
end

Instance Method Details

#on_btn_1_press(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 24

def on_btn_1_press(wm)
  if @ra.recording? then
    @ra.recording.stop
    @played = nil
  else
    @ra.recording.start
  end
end

#on_btn_2_press(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 33

def on_btn_2_press(wm)
  if @played != :reverse then
    puts 'playing in reverse'
    @ra.recording.reverse_play
    @played = :reverse
  else
    puts 'playing forward'
    @ra.recording.playback
    @played = :played
  end
end

#on_btn_a_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 66

def on_btn_a_down(wm)

  x,y = wm.acc

  if x < 110 and @ra.base.moving? != :left then
    @ra.base.left
  elsif x > 130 and @ra.base.moving? != :right then
    @ra.base.right
  end

  if y < 117 and @ra.shoulder.moving? != :up then
    @ra.shoulder.up
  elsif y > 127 and @ra.shoulder.moving? != :down then
    @ra.shoulder.down
  end

end

#on_btn_a_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 84

def on_btn_a_up(wm)
  @ra.base.stop
  @ra.shoulder.stop
end

#on_btn_b_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 89

def on_btn_b_down(wm)

  x,y = wm.acc

  if x < 110 and @ra.base.moving? != :left then
    @ra.base.left
  elsif x > 130 and @ra.base.moving? != :right then
    @ra.base.right
  end

  if y < 117 and @ra.elbow.moving? != :up then
    @ra.elbow.up
  elsif y > 127 and @ra.elbow.moving? != :down then
    @ra.elbow.down
  end

end

#on_btn_b_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 107

def on_btn_b_up(wm)
  @ra.base.stop
  @ra.elbow.stop
end

#on_btn_down_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 58

def on_btn_down_down(wm)
  if @ra.wrist.moving? != :down then
    @ra.wrist.down 
  end
end

#on_btn_down_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 64

def on_btn_down_up(wm)  @ra.wrist.stop end

#on_btn_left_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 45

def on_btn_left_down(wm)    @ra.gripper.open  end

#on_btn_left_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 46

def on_btn_left_up(wm)      @ra.gripper.stop  end

#on_btn_minus_press(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 21

def on_btn_minus_press(wm) 
end

#on_btn_plus_press(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 17

def on_btn_plus_press(wm)
  @ra.led.on? ? @ra.led.off : @ra.led.on
end

#on_btn_right_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 47

def on_btn_right_down(wm)   @ra.gripper.close end

#on_btn_right_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 48

def on_btn_right_up(wm)     @ra.gripper.stop  end

#on_btn_up_down(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 50

def on_btn_up_down(wm)
  if @ra.wrist.moving? != :up then
    @ra.wrist.up 
  end
end

#on_btn_up_up(wm) ⇒ Object 



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# File 'lib/wii-robotic-arm.rb', line 56

def on_btn_up_up(wm)  @ra.wrist.stop end