Class: Artoo::Drivers::Roomba

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

Overview

The Roomba driver behaviors

Defined Under Namespace

Modules: Modes

Constant Summary collapse

STRAIGHT = 
32768
CLOCKWISE = 
65535
COUNTERCLOCKWISE = 
1
MAX = 
500
SLOW = 
250
NEG = 
(65536 - 250)
ZERO = 
0
B = 
95
D = 
98
G = 
91
C = 
96
A = 
93
QUART = 
16
HALF = 
57
WHOLE = 
114
START = 
128

Instance Attribute Summary

Attributes inherited from Driver

#parent

Instance Method Summary collapse

Methods inherited from Driver

#connection, #event_topic_name, #initialize, #interval, #method_missing, #pin, #start_driver

Methods included from Celluloid

#timers

Constructor Details

This class inherits a constructor from Artoo::Drivers::Driver

Dynamic Method Handling

This class handles dynamic methods through the method_missing method in the class Artoo::Drivers::Driver

Instance Method Details

#backwards(seconds) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 62

def backwards(seconds)
  drive(NEG,STRAIGHT,seconds)
  stop if seconds > 0
end

#beep ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 89

def beep
  notes = [140,0,1,G,WHOLE]
  connection.send_bytes(notes)
  connection.send_bytes([141,0])
end

#drive(v, r, s = 0) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 142

def drive(v,r,s = 0)
  vH,vL = split_bytes(v)
  rH,rL = split_bytes(r)
  connection.send_bytes([137,vH,vL,rH,rL])
  sleep(s) if s > 0
end

#fast_forward(seconds) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 57

def fast_forward(seconds)
  drive(MAX,STRAIGHT,seconds)
  stop if seconds > 0
end

#forward(seconds, velocity = SLOW) ⇒ Object 



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

def forward(seconds, velocity = SLOW)
  drive(velocity,STRAIGHT,seconds)
  stop if seconds > 0
end

#full_mode ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 42

def full_mode
  start
  send_bytes(Modes::FULL)
  sleep 0.1
end

#nudge_left ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 67

def nudge_left
  turn_left(0.25)
end

#nudge_right ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 81

def nudge_right
  turn_right(0.25)
end

#safe_mode ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 36

def safe_mode
  start
  send_bytes(Modes::SAFE)
  sleep 0.1
end

#sing_jingle_bells ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 95

def sing_jingle_bells
  song0 = [[B,QUART],[B,QUART],[B,HALF],
          [B,QUART],[B,QUART],[B,HALF],
          [B,QUART],[D,QUART],[G,QUART],[A,QUART],
          [B,WHOLE]]
  song1 = [[C,QUART],[C,QUART],[C,QUART],[C,QUART],
          [C,QUART],[B,QUART],[B,HALF],
          [B,QUART],[A,QUART],[A,QUART],[B,QUART],
          [A,HALF],[D,HALF]]
  song2 = [[B,QUART],[B,QUART],[B,HALF],
          [B,QUART],[B,QUART],[B,HALF],
          [B,QUART],[D,QUART],[G,QUART],[A,QUART],
          [B,WHOLE]]
  song3 = [[C,QUART],[C,QUART],[C,QUART],[C,QUART],
          [C,QUART],[B,QUART],[B,QUART],[B,QUART],
          [D,QUART],[D,QUART],[C,QUART],[A,QUART],
          [G,WHOLE]]
      
  note_group = song0.flatten.compact
  l = note_group.length / 2
  notes = [140,0,l] + note_group
  connection.send_bytes(notes)
    
  note_group = song1.flatten.compact
  l = note_group.length / 2
  notes = [140,1,l] + note_group
  connection.send_bytes(notes)
    
  note_group = song2.flatten.compact
  l = note_group.length / 2
  notes = [140,2,l] + note_group
  connection.send_bytes(notes)
    
  note_group = song3.flatten.compact
  l = note_group.length / 2
  notes = [140,3,l] + note_group
  connection.send_bytes(notes)
    
  connection.send_bytes([141,0])
  sleep(7)
  connection.send_bytes([141,1])
  sleep(7)
  connection.send_bytes([141,2])
  sleep(7)
  connection.send_bytes([141,3])
end

#split_bytes(num) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 149

def split_bytes(num)
  [num >> 8, num & 255]
end

#start ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 31

def start
  send_bytes(START)
  sleep 0.2
end

#stop ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 53

def stop
  drive(ZERO,STRAIGHT)
end

#turn_around ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 85

def turn_around
  turn_left(1.6)
end

#turn_left(seconds = 1) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 71

def turn_left(seconds = 1)
  drive(SLOW,COUNTERCLOCKWISE,seconds)
  stop if seconds > 0
end

#turn_right(seconds = 1) ⇒ Object 



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# File 'lib/artoo/drivers/roomba.rb', line 76

def turn_right(seconds = 1)
  drive(SLOW,CLOCKWISE,seconds)
  stop if seconds > 0
end