sphero.rb in artoo-sphero-1.5.0

- old
+ new

@@ -14,20 +14,27 @@
       COMMANDS = [:ping, :version, :bluetooth_info, :auto_reconnect,
                   :disable_auto_reconnect, :power_state, :sphero_sleep, :roll,
                   :stop, :heading, :stabilization, :color, :rgb, :set_color,
                   :back_led_output, :rotation_rate, :set_power_notification,
                   :set_data_streaming, :detect_collisions,
-                  :handle_message_events, :get_rgb].freeze
+                  :handle_message_events, :get_rgb, :start_calibration,
+                  :finish_calibration].freeze
 
+      def initialize(params={})
+        super
+        require_interface(:sphero)
+      end
+
       # Starts drives and required connections
 
       # Public: Starts the driver.
       #
       # Returns null.
       def start_driver
         begin
           detect_collisions
+          enable_stop_on_disconnect
 
           every(interval) do
             handle_message_events
           end
 
@@ -113,9 +120,24 @@
       # Returns array of rgb values
       def get_rgb
         rgb = connection.user_led
 
         [rgb.r, rgb.g, rgb.b] if rgb
+      end
+
+      # Starts calibration process by turning on back LED and turning off
+      # auto-stabilization
+      def start_calibration
+        connection.back_led_output = 127
+        connection.stabilization = false
+      end
+
+      # Finishes calibration process by setting the new heading, turning off back LED,
+      # and turning back on auto-stabilization
+      def finish_calibration
+        connection.heading = 0
+        connection.back_led_output = 0
+        connection.stabilization = true
       end
 
       private
 
       # Publish collision events