Contents

module RapiroWrapper
  # LeftFootYaw class for RAPIRO
  class LeftFootYaw < ServoMotor
    NO = 10
    DEFAULT = 90
    MIN = 50
    MAX = 110

    def initialize(close: nil, open: nil)
      fail ArgumentError if open && close
      if close
        @value = MAX - close
      elsif open
        @value = MIN + open
      else
        @value = DEFAULT
      end
      fail ArgumentError unless @value.between?(MIN, MAX)
    end
  end
end

Version data entries

1 entries across 1 versions & 1 rubygems

Version	Path
rapiro_wrapper-0.1.0	lib/rapiro_wrapper/servo_motor/left_foot_yaw.rb