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Contents
require 'artoo/drivers/driver'
module Artoo
module Drivers
# Servo behaviors for Firmata
class Servo < Driver
COMMANDS = [:move, :min, :center, :max, :current_angle].freeze
attr_reader :current_angle
# Create new Servo with angle=0
def initialize(params={})
super
@current_angle = 0
end
# Moves to specified angle
# @param [Integer] angle must be between 0-180
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.servo_write(pin, angle_to_span(angle))
end
# Moves to min position
def min
move(0)
end
# Moves to center position
def center
move(90)
end
# Moves to max position
def max
move(180)
end
# converts an angle to a span between 0-255
# @param [Integer] angle
def angle_to_span(angle)
(angle * 255 / 180).to_i
end
end
end
end
Version data entries
7 entries across 7 versions & 2 rubygems