Class: Commands::Motor

Inherits:
Object
  • Object
show all
Includes:
Commands::Mixins::Motor
Defined in:
lib/commands/motor.rb

Overview

Implements the “Motor” block in NXT-G

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Commands::Mixins::Motor

#duration, #duration=

Constructor Details

#initialize(nxt = NXTComm.new($DEV)) ⇒ Motor

Returns a new instance of Motor.



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# File 'lib/commands/motor.rb', line 34

def initialize(nxt = NXTComm.new($DEV))
  @nxt          = nxt
  
  # defaults the same as NXT-G
  @port           = :a
  @direction      = :forward
  @action         = :constant
  @power          = 75
  @control_power  = false
  @duration       = nil # Same as :unlimited
  @wait           = false
  @next_action    = :brake
end

Dynamic Method Handling

This class handles dynamic methods through the method_missing method

#method_missing(cmd) ⇒ Object

attempt to return the output_state requested



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# File 'lib/commands/motor.rb', line 132

def method_missing(cmd)
  @nxt.get_output_state(NXTComm.const_get("MOTOR_#{@port.to_s.upcase}"))[cmd]
end

Instance Attribute Details

#action ⇒ Object

Returns the value of attribute action.



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# File 'lib/commands/motor.rb', line 28

def action
  @action
end

#control_power ⇒ Object

Returns the value of attribute control_power.



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# File 'lib/commands/motor.rb', line 30

def control_power
  @control_power
end

#direction ⇒ Object

Returns the value of attribute direction.



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# File 'lib/commands/motor.rb', line 26

def direction
  @direction
end

#next_action ⇒ Object

Returns the value of attribute next_action.



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# File 'lib/commands/motor.rb', line 32

def next_action
  @next_action
end

#port ⇒ Object

Returns the value of attribute port.



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# File 'lib/commands/motor.rb', line 25

def port
  @port
end

#power ⇒ Object

Returns the value of attribute power.



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# File 'lib/commands/motor.rb', line 29

def power
  @power
end

#steering ⇒ Object

Returns the value of attribute steering.



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# File 'lib/commands/motor.rb', line 27

def steering
  @steering
end

#wait ⇒ Object

Returns the value of attribute wait.



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# File 'lib/commands/motor.rb', line 31

def wait
  @wait
end

Instance Method Details

#start ⇒ Object

execute the Motor command based on the properties specified



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# File 'lib/commands/motor.rb', line 49

def start
  @nxt.reset_motor_position(NXTComm.const_get("MOTOR_#{@port.to_s.upcase}"))

  if @direction == :stop
    motor_power = 0
    mode        = NXTComm::COAST
    run_state   = NXTComm::MOTOR_RUN_STATE_IDLE
  else
    @direction == :forward ? motor_power = @power : motor_power = -@power
    mode        = NXTComm::MOTORON | NXTComm::BRAKE
    run_state   = NXTComm::MOTOR_RUN_STATE_RUNNING
  end

  turn_ratio = 0

  if @control_power
    mode |= NXTComm::REGULATED
    reg_mode = NXTComm::REGULATION_MODE_MOTOR_SPEED
  else
    reg_mode = NXTComm::REGULATION_MODE_IDLE
  end
  
  if @duration
    if @duration[:degrees] or @duration[:seconds]
      case @action
        when :constant
          run_state = NXTComm::MOTOR_RUN_STATE_RUNNING
        when :ramp_up
          run_state = NXTComm::MOTOR_RUN_STATE_RAMPUP
        when :ramp_down
          run_state = NXTComm::MOTOR_RUN_STATE_RAMPDOWN
      end
    end
  end

  @nxt.set_output_state(
    NXTComm.const_get("MOTOR_#{@port.to_s.upcase}"),
    motor_power,
    mode,
    reg_mode,
    turn_ratio,
    run_state,
    tacho_limit
  )
  
  if (@duration and @duration[:seconds]) or @wait
    if @duration and @duration[:seconds]
      sleep(@duration[:seconds])
    else
      until self.run_state == NXTComm::MOTOR_RUN_STATE_IDLE
        sleep(0.25)
      end
    end
    self.stop
  end
end

#stop ⇒ Object

stop the Motor command based on the next_action property



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# File 'lib/commands/motor.rb', line 107

def stop
  if @next_action == :brake
    @nxt.set_output_state(
      NXTComm.const_get("MOTOR_#{@port.to_s.upcase}"),
      0,
      NXTComm::MOTORON | NXTComm::BRAKE | NXTComm::REGULATED,
      NXTComm::REGULATION_MODE_MOTOR_SPEED,
      0,
      NXTComm::MOTOR_RUN_STATE_RUNNING,
      0
    )
  else
    @nxt.set_output_state(
      NXTComm.const_get("MOTOR_#{@port.to_s.upcase}"),
      0,
      NXTComm::COAST,
      NXTComm::REGULATION_MODE_IDLE,
      0,
      NXTComm::MOTOR_RUN_STATE_IDLE,
      0
    )
  end
end