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