Contents

# -*- coding: utf-8 -*-
require 'smalruby/hardware'

module Smalruby
  module Hardware
    # 2WD車のモーターを表現するクラス
    class TwoWheelDriveCar < Dino::Components::BaseComponent
      def initialize(options)
        pin = Pin.smalruby_to_dino(options[:pin])
        case pin
        when 2..10
          super(board: world.board, pin: (pin...(pin + 4)).to_a)
        else
          fail "モーターのピン番号が間違っています: {options[:pin]}"
        end
      end

      # 前進する
      def forward(left_level = 100,
                  right_level = 100)
        digital_write_pins(left_level, 0, right_level, 0)
      end

      # 後退する
      def backward(left_level = 100, right_level = 100)
        digital_write_pins(0, left_level, 0, right_level)
      end

      # 左に曲がる
      def turn_left(left_level = 100, right_level = 100)
        digital_write_pins(0, left_level, right_level, 0)
      end

      # 右に曲がる
      def turn_right(left_level = 100, right_level = 100)
        digital_write_pins(left_level, 0, 0, right_level)
      end

      # 停止する
      def stop
        digital_write_pins(0, 0, 0, 0)
      end

      # 命令する
      def run(options = {})
        defaults = {
          command: 'forward',
          sec: nil,
          left_level: 100,
          right_level: 100,
        }
        opts = Util.process_options(options, defaults)

        send(opts[:command], opts[:left_level], opts[:right_level])
        sleep(opts[:sec]) if opts[:sec]
        stop unless opts[:command] == :stop
      end

      private

      def after_initialize(_ = {})
        pins.each do |pin|
          set_pin_mode(pin, :out)
        end
        stop
      end

      def digital_write_pins(*levels)
        2.times do
          levels.each.with_index do
            |level, i|
            digital_write(pins[i], (Dino::Board::HIGH * level / 100.0).to_i)
            sleep(0.05) if i.odd?
          end
        end
      end
    end
  end
end

Version data entries

6 entries across 6 versions & 1 rubygems

Version	Path
smalruby-0.0.29-x86-mingw32	lib/smalruby/hardware/two_wheel_drive_car.rb
smalruby-0.0.29	lib/smalruby/hardware/two_wheel_drive_car.rb
smalruby-0.0.28-x86-mingw32	lib/smalruby/hardware/two_wheel_drive_car.rb
smalruby-0.0.28	lib/smalruby/hardware/two_wheel_drive_car.rb
smalruby-0.0.27-x86-mingw32	lib/smalruby/hardware/two_wheel_drive_car.rb
smalruby-0.0.27	lib/smalruby/hardware/two_wheel_drive_car.rb