class M3pi::Robot
Public Class Methods
new(address, serial)
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# File lib/m3pi/robot.rb, line 7 def initialize address, serial @xbee = XBeeRuby::XBee.new serial: serial @address = address = XBeeRuby::Address64.new *address end
Public Instance Methods
drive(speed, turn_radius)
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# File lib/m3pi/robot.rb, line 16 def drive speed, turn_radius raise "Speed is to high, speed must be less than 100" if speed > 100 raise "Speed is to low, speed must be greater than -100" if speed < -100 raise "Turn radius is to high, turn_radius must be less than 100" if speed > 100 raise "Turn radius is to low, turn_radius must be greater than -100" if speed < -100 send [0x10, [speed].pack("c").getbyte(0), [turn_radius].pack("c").getbyte(0)] end
forward()
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# File lib/m3pi/robot.rb, line 24 def forward drive 100, 0 end
left()
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# File lib/m3pi/robot.rb, line 32 def left drive 0, -100 end
reverse()
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# File lib/m3pi/robot.rb, line 28 def reverse drive -100, 0 end
right()
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# File lib/m3pi/robot.rb, line 36 def right drive 0, 100 end
send(data)
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# File lib/m3pi/robot.rb, line 12 def send data @xbee.write_request XBeeRuby::TxRequest.new @address, data end