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updated check program for Smalrubot.
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@takaokouji
takaokouji committed May 12, 2015
1 parent d0d645c commit 202a46a
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Showing 3 changed files with 219 additions and 379 deletions.
214 changes: 214 additions & 0 deletions samples/check_hardware_smalrubot.rb
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# -*- coding: utf-8 -*-

def setup_smalrubot(stage1, smalrubot)
stage1.on(:start) do
fill(color: 'white')
draw_font(string: DESCRIPTION, color: 'black')

smalrubot.left_dc_motor_power_ratio = 100
smalrubot.right_dc_motor_power_ratio = 100

loop do
if Input.key_down?(K_UP)
fill(color: 'white')
draw_font(string: '進む', color: 'black')

smalrubot.forward

await until !Input.key_down?(K_UP)

fill(color: 'white')

smalrubot.stop
end

if Input.key_down?(K_DOWN)
fill(color: 'white')
draw_font(string: 'バックする', color: 'black')

smalrubot.backward

await until !Input.key_down?(K_DOWN)

fill(color: 'white')

smalrubot.stop
end

if Input.key_down?(K_LEFT)
fill(color: 'white')
draw_font(string: '左に旋回する', color: 'black')

smalrubot.turn_left

await until !Input.key_down?(K_LEFT)

fill(color: 'white')

smalrubot.stop
end

if Input.key_down?(K_RIGHT)
fill(color: 'white')
draw_font(string: '右に旋回する', color: 'black')

smalrubot.turn_right

await until !Input.key_down?(K_RIGHT)

fill(color: 'white')

smalrubot.stop
end

if Input.key_down?(K_W) || Input.key_down?(K_S)
if Input.key_down?(K_W)
smalrubot.left_dc_motor_power_ratio += 10
else
smalrubot.left_dc_motor_power_ratio -= 10
end

fill(color: 'white')
draw_font(string: "左の速度: #{smalrubot.left_dc_motor_power_ratio}%",
color: 'black')
end

if Input.key_down?(K_O) || Input.key_down?(K_L)
if Input.key_down?(K_O)
smalrubot.right_dc_motor_power_ratio += 10
else
smalrubot.right_dc_motor_power_ratio -= 10
end

fill(color: 'white')
draw_font(string: "右の速度: #{smalrubot.right_dc_motor_power_ratio}%",
color: 'black')
end

if Input.key_down?(K_SPACE)
fill(color: 'white')
draw_font(string: '右のLEDを光らせる', color: 'black')

smalrubot.turn_on_right_led

sleep(1)

smalrubot.turn_off_right_led

fill(color: 'white')
draw_font(string: '左のLEDを光らせる', color: 'black')

smalrubot.turn_on_left_led

sleep(1)

smalrubot.turn_off_left_led

fill(color: 'white')
end

if Input.key_down?(K_H)
until !Input.key_down?(K_H)
fill(color: 'white')
msg = 'センサーの情報: ' +
"左 #{smalrubot.left_sensor_value} " +
"右 #{smalrubot.right_sensor_value}"
draw_font(string: msg, color: 'black')
await
end
fill(color: 'white')
end
end
end

stage1.on(:key_push, K_A) do
threshold = 400

loop do
fill(color: 'white')
draw_font(string: '自動運転', color: 'black')

left_sensor = smalrubot.left_sensor_value < threshold
right_sensor = smalrubot.right_sensor_value < threshold

if !left_sensor && !right_sensor
smalrubot.forward
end

loop do
if left_sensor || right_sensor
if left_sensor && right_sensor
fill(color: 'white')
draw_font(string: '前方障害物発見！', color: 'black')

smalrubot.backward

loop do
left_sensor = smalrubot.left_sensor_value < threshold
right_sensor = smalrubot.right_sensor_value < threshold
if !left_sensor && !right_sensor
smalrubot.stop
break
end
end

if rand(2) == 1
smalrubot.turn_left(sec: 0.1)
else
smalrubot.turn_right(sec: 0.1)
end
else
if right_sensor
fill(color: 'white')
draw_font(string: '右側障害物発見！', color: 'black')

#smalrubot.backward(sec: 0.1)
smalrubot.turn_left

loop do
left_sensor = smalrubot.left_sensor_value < threshold
right_sensor = smalrubot.right_sensor_value < threshold
if !left_sensor && !right_sensor
smalrubot.stop
break
end
end
else
if left_sensor
fill(color: 'white')
draw_font(string: '左側障害物発見！', color: 'black')

#smalrubot.backward(sec: 0.1)
smalrubot.turn_right

loop do
left_sensor = smalrubot.left_sensor_value < threshold
right_sensor = smalrubot.right_sensor_value < threshold
if !left_sensor && !right_sensor
smalrubot.stop
break
end
end
end
end
end
break
end

if Input.key_down?(K_Y)
fill(color: 'white')
break
end

left_sensor = smalrubot.left_sensor_value < threshold
right_sensor = smalrubot.right_sensor_value < threshold
end

if Input.key_down?(K_Y)
fill(color: 'white')
smalrubot.stop
break
end
end
end
end
173 changes: 3 additions & 170 deletions samples/check_hardware_smalrubot_s1.rb
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# -*- coding: utf-8 -*-

DESCRIPTION = <<EOS
Smalrubot on Studuino v1を操作します
スモウルボットS1を操作します
EOS

require 'smalruby'
require_relative 'check_hardware_smalrubot'

init_hardware(device: ENV['SMALRUBOT_DEVICE'],
baud: ENV['SMALRUBOT_BAUD'] ? ENV['SMALRUBOT_BAUD'].to_i : nil)

stage1 = Stage.new(color: 'white')

stage1.on(:start) do
fill(color: 'white')
draw_font(string: DESCRIPTION, color: 'black')

smalrubot_s1.left_dc_motor_power_ratio = 100
smalrubot_s1.right_dc_motor_power_ratio = 100

loop do
if Input.key_down?(K_UP)
fill(color: 'white')
draw_font(string: '進む', color: 'black')

smalrubot_s1.forward

await until !Input.key_down?(K_UP)

[75, 50, 25].each do |ratio|
smalrubot_s1.left_dc_motor_power_ratio = ratio
smalrubot_s1.right_dc_motor_power_ratio = ratio
sleep(0.1)
end

fill(color: 'white')

smalrubot_s1.left_dc_motor_power_ratio = 100
smalrubot_s1.right_dc_motor_power_ratio = 100

smalrubot_s1.stop
end

if Input.key_down?(K_DOWN)
fill(color: 'white')
draw_font(string: 'バックする', color: 'black')

smalrubot_s1.backward

await until !Input.key_down?(K_DOWN)

fill(color: 'white')

smalrubot_s1.stop
end

if Input.key_down?(K_LEFT)
fill(color: 'white')
draw_font(string: '左に旋回する', color: 'black')

smalrubot_s1.turn_left

await until !Input.key_down?(K_LEFT)

fill(color: 'white')

smalrubot_s1.stop
end

if Input.key_down?(K_RIGHT)
fill(color: 'white')
draw_font(string: '右に旋回する', color: 'black')

smalrubot_s1.turn_right

await until !Input.key_down?(K_RIGHT)

fill(color: 'white')

smalrubot_s1.stop
end

if Input.key_down?(K_S)
until !Input.key_down?(K_S)
fill(color: 'white')
draw_font(string: "ライントレーサーの情報: 左(#{smalrubot_s1.left_ir_photoreflector_value}) 右(#{smalrubot_s1.right_ir_photoreflector_value})",
color: 'black')
await
end

fill(color: 'white')
end

if Input.key_down?(K_W)
fill(color: 'white')
draw_font(string: '右のLEDを光らせる', color: 'black')

smalrubot_s1.turn_on_right_led

await until !Input.key_down?(K_W)

fill(color: 'white')

smalrubot_s1.turn_off_right_led
end

if Input.key_down?(K_B)
fill(color: 'white')
draw_font(string: '左のLEDを光らせる', color: 'black')

smalrubot_s1.turn_on_left_led

await until !Input.key_down?(K_B)

smalrubot_s1.turn_off_left_led

fill(color: 'white')
end
end
end

stage1.on(:key_push, K_A) do
loop do
fill(color: 'white')
draw_font(string: '自動運転', color: 'black')

smalrubot_s1.forward

loop do
if smalrubot_s1.left_ir_photoreflector_value < 300 && smalrubot_s1.right_ir_photoreflector_value < 300
fill(color: 'white')
draw_font(string: '前方障害物発見！', color: 'black')

smalrubot_s1.backward
sleep(0.25)
if rand(2) == 1
smalrubot_s1.turn_left
sleep(0.1)
else
smalrubot_s1.turn_right
sleep(0.1)
end
break
end

if smalrubot_s1.left_ir_photoreflector_value < 300
fill(color: 'white')
draw_font(string: '左側障害物発見！', color: 'black')

smalrubot_s1.backward
sleep(0.25)
smalrubot_s1.turn_right
sleep(0.1)
break
end

if smalrubot_s1.right_ir_photoreflector_value < 300
fill(color: 'white')
draw_font(string: '右側障害物発見！', color: 'black')

smalrubot_s1.backward
sleep(0.25)
smalrubot_s1.turn_left
sleep(0.1)
break
end

if Input.key_down?(K_Y)
fill(color: 'white')
break
end
end
smalrubot_s1.stop
sleep(0.1)

if Input.key_down?(K_Y)
fill(color: 'white')
break
end
end
end
setup_smalrubot(stage1, stage1.smalrubot_s1)
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