Class: RapiroWrapper::Body

Inherits:
Object
  • Object
show all
Defined in:
lib/rapiro_wrapper/body.rb

Overview

Controll class for RAPIRO

Instance Method Summary collapse

Constructor Details

#initialize(device = '/dev/ttyAMA0') ⇒ Body

Returns a new instance of Body.



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# File 'lib/rapiro_wrapper/body.rb', line 4

def initialize(device = '/dev/ttyAMA0')
  @commander  = RapiroWrapper::Commander.new(device)
  servo_class = RapiroWrapper::ServoMotor.find_servos

  @servos = servo_class.inject({}) do |hash, klass|
    class_name = klass.to_s
    snake_case = class_name.gsub(/::/, '/')
                           .gsub(/([A-Z]+)([A-Z][a-z])/, '\1_\2')
                           .gsub(/([a-z\d])([A-Z])/, '\1_\2')
                           .tr('-', '_').downcase
    hash[snake_case.split('/').last] = klass
    hash
  end
  @servos['eyes'] = RapiroWrapper::Eyes
  @servos.each do |s, k|
    self.class.class_eval "      def \#{s}=(val)\n        @\#{s} = \#{k}.new(val)\n      end\n\n      def \#{s}\n        @\#{s}\n      end\n    EOF\n    instance_variable_set('@'.concat(s).to_sym, k.new)\n  end\nend\n"

Instance Method Details

#execute!(duration = 10) ⇒ Object 



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# File 'lib/rapiro_wrapper/body.rb', line 39

def execute!(duration = 10)
  @commander.write(sequences(duration))
end

#sequences(duration = 10) ⇒ Object 



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# File 'lib/rapiro_wrapper/body.rb', line 32

def sequences(duration = 10)
  @commander.sequences(
    @servos.keys.map { |k| instance_variable_get('@'.concat(k).to_sym) },
    duration
  )
end