lib/sphero/request.rb in hybridgroup-sphero-1.4.0 vs lib/sphero/request.rb in hybridgroup-sphero-1.5.2

@@ -1,11 +1,11 @@
 class Sphero
   class Request
     SOP1 = 0xFF
     SOP2 = 0xFF
 
-    attr_reader :data
+    attr_reader :data, :seq
 
     def initialize seq, data = []
       @seq    = seq
       @data   = data
       @did    = 0x00
@@ -87,11 +87,11 @@
       def packet_body
         @data.pack 'CnC'
       end
     end
 
-    class Heading < Request
+    class Heading < Sphero
       def initialize seq, heading
         super(seq, [heading])
         @cid = 0x01
       end
 
@@ -99,10 +99,22 @@
       def packet_body
         @data.pack 'n'
       end
     end
 
+    class Stabilization < Sphero
+      def initialize seq, on
+        super(seq, [on ? 1 : 0])
+        @cid = 0x02
+      end
+
+      private
+      def packet_body
+        @data.pack 'C'
+      end
+    end
+
     class Sleep < Request
       def initialize seq, wakeup, macro
         super(seq, [wakeup, macro])
         @cid    = 0x22
       end
@@ -112,13 +124,26 @@
       def packet_body
         @data.pack 'nC'
       end
     end
 
-    class SetPowerNotification < Sphero
+    class SetPowerNotification < Request
       def initialize seq, enable
         super(seq, [enable])
         @cid = 0x21
+      end
+    end
+
+    class SetTempOptionFlags < Request
+      def initialize seq, flag
+        super(seq, [flag])
+        @cid = 0x37
+        @did = 0x02
+      end
+
+      private
+      def packet_body
+        @data.pack 'N'
       end
     end
 
     GYRO_AXIS_H_FILTERED = 0x0000_0001
     GYRO_AXIS_M_FILTERED = 0x0000_0002