/
motor.rb
117 lines (86 loc) · 2.41 KB
/
motor.rb
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class Motor
attr_reader :name, :registers
def initialize (robot, motor_name)
@name = motor_name
@robot = robot
load_registers
end
def set_name (name)
@name = name
end
def load_registers
@registers = Hash.new
names = JSON.parse(@robot.motor_register_list self).values[0]
names.each do |name|
next if name == "registers"
begin
value = @robot.motor_register_get(self, name)
value = JSON.parse(value)
value = value[name]
@registers[name] = value
## create a function to access this
instance_variable_set("@#{name}", value)
self.class.send(:attr_reader, name)
if is_float_register(name)
self.class.send(:define_method, name+"=") do |argument|
puts "Sending value..."
@robot.send_motor_register(self, name, argument.to_s)
end
else
self.class.send(:define_method, name+"=") do |argument|
puts "Sending ..."
@robot.send_motor_register(self, name, argument)
end
end
rescue
# puts "Register not read " + name
end
end
# update_registers
end
def is_float_register (name)
if name == "goal_position" or name == "goal_speed"
return true
end
false
end
def update_registers
@registers.each do |name, value|
begin
value = @robot.motor_register_get(self, name)
value = JSON.parse(value)
value = value[name]
@registers[name] = value
instance_variable_set("@#{name}", value)
rescue
# puts "Register not read " + name
end
end
end
## TODO: custom functions for key functions.
## not for the others.
# def set_compliant (value)
# compliant = value
# end
# def compliant= (value)
# text = "true" if value == true
# text = "false" if value == false
# @robot.send_motor_register(self, "compliant", text)
# end
# def moving_speed= (value)
# @robot.send_motor_register(self, "moving_speed", value)
# end
# def position= (value)
# @robot.send_motor_register(self, "goal_position", value.to_s)
# end
# def position
# present_position
# end
def to_s
return "Motor: " + @name
end
# RestClient.get @url + '/motor/' + name + '/register/list.json' , {:accept => :json}
end
# class Register
# attr_reader :name
# end