Class: Artoo::Drivers::Motor

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

Constant Summary collapse

COMMANDS = 
[:stop, :start, :on?, :off?, :toggle, :speed, :min, :max, :forward, :backward, :current_speed].freeze

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(params = {}) ⇒ Motor

Returns a new instance of Motor.



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# File 'lib/artoo/drivers/motor.rb', line 11

def initialize(params={})
  super
  
  additional_params = params[:additional_params]
  @speed_pin = additional_params[:speed_pin]
  @switch_pin = additional_params[:switch_pin] if additional_params[:switch_pin]

  @forward_pin = additional_params[:forward_pin]
  @backward_pin = additional_params[:backward_pin]

  @current_state = :low
  @current_speed = 0

  # digital: just to switch the motor on or off, no speed control
  # analog: speed control
  @current_mode = :digital

  @current_direction = :forward

  @@modules_to_include = modules_to_include

  class << self
    @@modules_to_include.each do |m|
      include m
    end if @@modules_to_include
  end

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

#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

#switch_pin ⇒ Object (readonly)

Returns the value of attribute switch_pin.



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

def switch_pin
  @switch_pin
end

Instance Method Details

#analog? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/drivers/motor.rb', line 44

def analog?
  @current_mode == :analog
end

#change_state(state) ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 88

def change_state(state)
  @current_state = state
  @current_speed = state == :low ? 0 : 255
  connection.digital_write(@speed_pin, state)
end

#digital? ⇒ Boolean

Returns:

  • (Boolean) 


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

def digital?
  @current_mode == :digital
end

#max ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 68

def max
  speed(255)
end

#min ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 64

def min
  stop
end

#off? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/drivers/motor.rb', line 80

def off?
  !on?
end

#on? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/drivers/motor.rb', line 72

def on?
  if digital?
    @current_state == :high
  else
    @current_speed > 0
  end
end

#speed(value) ⇒ Object

Set motor speed

Parameters:

  • value (Integer) —

    (must be an integer between 0-255)



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# File 'lib/artoo/drivers/motor.rb', line 96

def speed(value)
  @current_mode = :analog
  raise "Motor speed must be an integer between 0-255" unless (value.is_a?(Numeric) && value >= 0 && value <= 255)
  @current_speed = value
  connection.pwm_write(speed_pin, value)
end

#start ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 56

def start
  if digital?
    change_state(:high)
  else
    speed(@current_speed.zero? ? 255 : @current_speed)
  end
end

#stop ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 48

def stop
  if digital?
    change_state(:low)
  else
    speed(0)
  end
end

#toggle ⇒ Object 



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# File 'lib/artoo/drivers/motor.rb', line 84

def toggle
  on? ? stop : start
end