Sha256: c408b31d6566d82c8eab4808ca66ac3d03c1d126cc4e2f5723ee5d5ccfa19e00
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Size: 1.39 KB
Versions: 16
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Stored size: 1.39 KB
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
digital_write_pins(true, false, true, false)
end
# 後退する
def backward
digital_write_pins(false, true, false, true)
end
# 左に曲がる
def turn_left
digital_write_pins(false, true, true, false)
end
# 右に曲がる
def turn_right
digital_write_pins(true, false, false, true)
end
# 停止する
def stop
digital_write_pins(false, false, false, false)
end
private
def after_initialize(_ = {})
pins.each do |pin|
set_pin_mode(pin, :out)
end
stop
end
def digital_write_pins(*level_flags)
level_flags.each.with_index do |level_flag, i|
level = level_flag ? Dino::Board::HIGH : Dino::Board::LOW
digital_write(pins[i], level)
end
end
end
end
end
Version data entries
16 entries across 16 versions & 1 rubygems