Project

rapiro_wrapper

0.0
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rapiro_wrappertk-hamaguchi/rapiro_wrapperHomepageDocumentationSource CodeBug TrackerWiki
A gem providing access to Rapiro with SerialPort.
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 Popularity
Downloads
3,176
Stars
0
Forks
0
Watchers
2
 Releases
Current version
0.1.0
Total releases
1
First release
2015-02-23
Latest release
2015-02-23
 Development
Primary Language
Ruby
Licenses
MIT
Average date of last 50 commits
2015-02-04
Reverse Dependencies
0

 Dependencies

Development

bundler
~> 1.7
rake
~> 10.0
rspec
~> 3.1
rubocop
~> 0.29.0
simplecov
~> 0.9

Runtime

serialport
~> 1.3
 Project Readme

Rapiro Wrapper

A gem providing access to Rapiro with SerialPort.

Installation

gem 'rapiro_wrapper'

And then execute:

$ bundle

Or install it yourself as:

$ gem install rapiro_wrapper

Usage1

  1. Require gem.
require 'rapiro_wrapper'
  1. Initialize commander. (default: '/dev/ttyAMA0')
rapiro = RapiroWrapper::Body.new

2.1. In another case, initialize with serial port path.

``` ruby
rapiro = RapiroWrapper::Body.new('/dev/tty.usbserial-DA00HMG6')
```
  1. Set pose.
rapiro.head  = { left:  40 }               ## param is left: 0..90 or   right: 0..90
rapiro.waist = { right: 40 }               ## param is left: 0..90 or right: 0..90
rapiro.right_sholder_roll  = { up: 120 }   ## param is up: 0..180  (default:0)
rapiro.right_sholder_pitch = { up: 20  }   ## param is hold: 0..50 or open: 0..50
rapiro.right_hand_grip     = { open: 10 }  ## param is hold: 0..50 or open: 0..50
rapiro.left_sholder_roll  = { up: 20 }     ## param is up: 0..180  (default:0)
rapiro.left_sholder_pitch = { up: 70 }     ## param is up: 0..90  (default:0)
rapiro.left_hand_grip     = { hold: 0 }    ## param is hold: 0..50 or open: 0..50
rapiro.right_foot_yaw   = { close: 10 }    ## param is close: 0..60 or open: 0..60
rapiro.right_foot_pitch = { open:  30 }    ## param is close: 0..40 or open: 0..40
rapiro.left_foot_yaw   = { open:  0 }      ## param is close: 0..60 or open: 0..60
rapiro.left_foot_pitch = { close: 0 }      ## param is close: 0..40 or open: 0..40
rapiro.eyes = '#808000'                    ## param is web color code for example #000000 or hash({red: 255, green: 255, blue: 0})
  1. Execute. (default: 10)
rapiro.execute!

4.1. In another case, execute with duration.

``` ruby
rapiro.execute!(90)  ## param is 0..127
```

Usage2

  1. Require gem.
require 'rapiro_wrapper'
  1. Initialize commander with serial port path. (default: '/dev/ttyAMA0')
commander = RapiroWrapper::Commander.new('/dev/tty.usbserial-DA00HMG6')
  1. Execute commands
## generate command sequences
sequences = [
  ## param is left: 0..90 or right: 0..90
  RapiroWrapper::Head.new( left: 30 ),

  ## param is left: 0..90 or right: 0..90
  RapiroWrapper::Waist.new( right: 30 ),

  ## param is up: 0..180  (default:0)
  RapiroWrapper::RightSholderRoll.new( up: 160 ),

  ## param is up: 0..90  (default:0)
  RapiroWrapper::RightSholderPitch.new( up: 20 ),

  ## param is hold: 0..50 or open: 0..50
  RapiroWrapper::RightHandGrip.new( hold: 0 ),

  ## param is up: 0..180  (default:0)
  RapiroWrapper::LeftSholderRoll.new( up: 30 ),

  ## param is up: 0..90  (default:0)
  RapiroWrapper::LeftSholderPitch.new( up: 20 ),

  ## param is hold: 0..50 or open: 0..50
  RapiroWrapper::LeftHandGrip.new( open: 0 ),

  ## param is close: 0..60 or open: 0..60
  RapiroWrapper::RightFootYaw.new( open: 30 ),

  ## param is close: 0..40 or open: 0..40
  RapiroWrapper::RightFootPitch.new( open: 5 ),

  ## param is close: 0..60 or open: 0..60
  RapiroWrapper::LeftFootYaw.new( close: 20 ),

  ## param is close: 0..40 or open: 0..40
  RapiroWrapper::LeftFootPitch.new( close: 0 ),

  ## param is web color code for example #000000 or hash
  RapiroWrapper::Eyes.new('#00ff00')
]
## set duration by milliseconds.  (default:10)
duration = 10
## Execute
commander.execute!(sequences, duration)
  1. Return to defaults
commander.execute!([])

Contributing

  1. Fork it ( https://github.com/tk-hamaguchi/rapiro_wrapper/fork )
  2. Create your feature branch (git checkout -b my-new-feature)
  3. Commit your changes (git commit -am 'Add some feature')
  4. Push to the branch (git push origin my-new-feature)
  5. Create a new Pull Request