Class: Artoo::Drivers::Servo

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

Overview

Servo behaviors for Firmata

Instance Attribute Summary collapse

Attributes inherited from Driver

#parent

Instance Method Summary collapse

Methods inherited from Driver

#connection, #event_topic_name, #interval, #method_missing, #pin

Methods included from Celluloid

#timers

Constructor Details

#initialize(params = {}) ⇒ Servo 



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

def initialize(params={})
  super

  @current_angle = 0
end

Dynamic Method Handling

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

Instance Attribute Details

#current_angle ⇒ Object (readonly)

Returns the value of attribute current_angle.



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# File 'lib/artoo/drivers/servo.rb', line 7

def current_angle
  @current_angle
end

Instance Method Details

#angle_to_span(angle) ⇒ Object

converts an angle to a span between 0-255



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

def angle_to_span(angle)
  (angle * 255 / 180).to_i
end

#center ⇒ Object 



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# File 'lib/artoo/drivers/servo.rb', line 35

def center
  move(90)
end

#max ⇒ Object 



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# File 'lib/artoo/drivers/servo.rb', line 39

def max
  move(180)
end

#min ⇒ Object 



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

def min
  move(0)
end

#move(angle) ⇒ Object 



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

def move(angle)
  raise "Servo angle must be an integer between 0-180" unless (angle.is_a?(Numeric) && angle >= 0 && angle <= 180)
  
  @current_angle = angle
  connection.set_pin_mode(pin, Firmata::Board::SERVO)
  connection.analog_write(pin, angle_to_span(angle))
end

#start_driver ⇒ Object 



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# File 'lib/artoo/drivers/servo.rb', line 15

def start_driver
  every(interval) do
    connection.read_and_process
  end

  super
end