class Icaro

Public Class Methods

Source

# File lib/icaro.rb, line 14
def initialize
      tty=Dir["/dev/ttyACM*"]
      unless tty.count==0
              tty.each do |device|  
                begin
                      @sp=SerialPort::new(device,{"baud"=>9600, "data_bits"=>8, "stop_bits"=>1, "parity"=>0})
                      @sp.read_timeout=128
                      @sp.write('b')
                      ttyread=@sp.read
                      if ttyread.include?("icaro") 
                              return true
                      else         
                              return false
                      end
                rescue Errno::EACCES => ex
                      STDERR.puts ex.message + 'hint: Add your user to group dialout'
                rescue Errno::ENODEV => ex
                      STDERR.puts ex.message
                rescue Errno::EBUSY => ex
                      STDERR.puts ex.message
                rescue Errno::EIO => ex
                      STDERR.puts ex.message
                rescue IOError => ex
                      STDERR.puts ex.message
                end          
              end
      else
              puts "Please connect Icaro"
      end 
end

look for the device ttyACM initialize the device and check if Icaro board is conected and set

while icaro load the device may not be ready so we manage it with a rescue
icaro board is normally recognice as a /dev/ttyACM0 how ever in some cases
it sets on /dev/ttyACM1 so we read the device and set verify if its ready

Public Instance Methods

activar (value)

Alias for: start

activar_servo (servo,value)

Alias for: servo

cerrar ()

Alias for: close

close ()

Source

# File lib/icaro.rb, line 45
def close 
  begin
    @sp.close
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end
end

Also aliased as: cerrar

leer_analogico (value)

Alias for: read_analog

leer_digital (value)

Alias for: read_digital

motor (value)

Source

# File lib/icaro.rb, line 83
def motor(value)
  if [1,2,3,4,5].include?(value.to_i)
   begin
      @sp.write('l')
      @sp.write(value)
      return true
   rescue Errno::EIO => ex
      STDERR.puts ex.message
   rescue IOError => ex
      return ex
   end
  else
   return false
  end
end

Motor move robot DC motors

1 forward
2 back
3 left
4 right
5 stop
values are strings
icaro.motor('1') move icaro forward

read_analog (value)

Source

# File lib/icaro.rb, line 102
def read_analog(value)
   if [1,2,3,4,5,6,7,8].include?(value.to_i)
    begin
      @sp.write('e')
      @sp.write(value)
      return @sp.read
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
      return ex
    end
   else
      return false
   end
end

read analog input sensors there are 8 analog input ports

icaro.read_analog('3')

Also aliased as: leer_analogico

read_digital (value)

Source

# File lib/icaro.rb, line 123
def read_digital(value)
  if [1,2,3,4].include?(value.to_i)
    begin
      @sp.write('d')
      @sp.write(value)
      return @sp.read==1 ? 1:0
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
      return ex
    end
  else
    return false
  end
end

read digital input sensor there are 4 digital input sensors ports

d=icaro.read_digital('3')

Also aliased as: leer_digital

servo (servo,value)

Source

# File lib/icaro.rb, line 145
def servo(servo,value)
  if [1,2,3,4,5].include?(servo.to_i)
    begin
      @sp.write('m')
      @sp.write(servo)
      @sp.write(value.to_i)
      return true
    rescue Errno::EIO => ex
      STDERR.puts ex.message
    rescue IOError => ex
      return ex
    end
  else
      return false
  end
end

move servo motors Icaro board has 5 servo engines ports value is one of 255 integer and move the engine to that position

icaro.servo('1','x')

Also aliased as: activar_servo

sonido (audio,value)

Alias for: sound

sound (audio,value)

Source

# File lib/icaro.rb, line 166
def sound(audio,value)
  begin
      @sp.write('a')
      @sp.write(audio)
      @sp.write(value)
      sleep(0.01)
      @sp.write('s')
      @sp.write('0')
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end

end

sound produce a sound on the port

icaro.sound('2','2')

Also aliased as: sonido

start (value)

Source

# File lib/icaro.rb, line 60
def start(value)
  begin
      @sp.write('s')
      @sp.write(value)
      return true
  rescue Errno::EIO => ex
      STDERR.puts ex.message
  rescue IOError => ex
      return ex
  end
end

set Icaro board to ready status icaro=Icaro.new icaro.start(‘1’)

Also aliased as: activar