Class: Smalruby::Hardware::SmalrubotV3

Inherits:
Object
  • Object
show all
Defined in:
lib/smalruby/hardware/smalrubot_v3.rb

Overview

Smalrubot v3 class

Constant Summary collapse

WAIT_TIME =

wait time for next action

0.01

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(_) ⇒ SmalrubotV3

Returns a new instance of SmalrubotV3.



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 48

def initialize(_)
  @red_led = Led.new(pin: 'D13')
  @green_led = Led.new(pin: 'D2')

  @left_motor = MotorDriver.new(pin: 'D6')
  @left_motor.speed = 100
  @right_motor = MotorDriver.new(pin: 'D9')
  @right_motor.speed = 100

  @left_sensor = Sensor.new(pin: 'A0')
  @right_sensor = Sensor.new(pin: 'A1')

  @current_motor_direction = :stop
end

Instance Attribute Details

#green_led ⇒ Object (readonly)

Green LED that is connected D2



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 34

def green_led
  @green_led
end

#left_motor ⇒ Object (readonly)

Left Motor that is connected D6, D7, D8



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 37

def left_motor
  @left_motor
end

#left_sensor ⇒ Object (readonly)

Left sensor that is connected A0



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 43

def left_sensor
  @left_sensor
end

#red_led ⇒ Object (readonly)

Red LED that is connected D13



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 31

def red_led
  @red_led
end

#right_motor ⇒ Object (readonly)

Right Motor that is connected D9, D10, D11



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 40

def right_motor
  @right_motor
end

#right_sensor ⇒ Object (readonly)

Right sensor that is connected A1



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 46

def right_sensor
  @right_sensor
end

Class Method Details

.lock(&block) ⇒ Object

lock for motor driver



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 15

def lock(&block)
  @mutex.synchronize do
    yield
  end
end

.unlock(&block) ⇒ Object

unlock for motor driver



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 22

def unlock(&block)
  @mutex.unlock
  yield
ensure
  @mutex.lock
end

Instance Method Details

#backward(sec: nil) ⇒ Object

backward

Parameters:

  • time (Float) —

    of backwarding




# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 84

#forward(sec: nil) ⇒ Object

forward

Parameters:

  • time (Float) —

    of forwarding




# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 79

#left_dc_motor_power_ratio ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 63

def left_dc_motor_power_ratio
  @left_motor.speed
end

#left_dc_motor_power_ratio=(val) ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 67

def left_dc_motor_power_ratio=(val)
  @left_motor.speed = val
end

#left_sensor_value ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 118

def left_sensor_value
  @left_sensor.value.to_i
end

#right_dc_motor_power_ratio ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 71

def right_dc_motor_power_ratio
  @right_motor.speed
end

#right_dc_motor_power_ratio=(val) ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 75

def right_dc_motor_power_ratio=(val)
  @right_motor.speed = val
end

#right_sensor_value ⇒ Object 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 122

def right_sensor_value
  @right_sensor.value.to_i
end

#stop(sec: WAIT_TIME) ⇒ Object

stop

Parameters:

  • time (Float) —

    of stopping



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 107

def stop(sec: WAIT_TIME)
  self.class.lock do
    @left_motor.stop
    @right_motor.stop
    @current_motor_direction = :stop
    if (sec = sec.to_f) > 0
      sleep(sec)
    end
  end
end

#turn_left(sec: nil) ⇒ Object

turn left

Parameters:

  • time (Float) —

    of turning left




# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 89

#turn_off_green_led ⇒ Object Also known as: turn_off_left_led 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 131

def turn_off_green_led
  @green_led.turn_off
end

#turn_off_red_led ⇒ Object Also known as: turn_off_right_led 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 141

def turn_off_red_led
  @red_led.turn_off
end

#turn_on_green_led ⇒ Object Also known as: turn_on_left_led 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 126

def turn_on_green_led
  @green_led.turn_on
end

#turn_on_red_led ⇒ Object Also known as: turn_on_right_led 



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 136

def turn_on_red_led
  @red_led.turn_on
end

#turn_right(sec: nil) ⇒ Object

turn right

Parameters:

  • time (Float) —

    of turning right



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# File 'lib/smalruby/hardware/smalrubot_v3.rb', line 98

%i(forward backward turn_left turn_right).each do |direction|
  define_method(direction) do |sec: nil|
    run(direction, sec: sec)
  end
end