Raspi Tank

This is a project meant to run on a raspberry pi and control a remote control tank.

It will also include a mode that allows it to export the main object over drb for network-control.

API

So the api works like the following:

# Initialize the motor driver objects
left_motor = RaspiTank::Motor.new(forward: 11, enable: 12, backward: 13)
right_motor = RaspiTank::Motor.new(forward: 16, enable: 17, backward: 18)

# Initialize the tank
tank = RaspiTank.new(left_motor: left_motor, right_motor: right_motor)

At this point, you have a tank object that you can manipulate (and two motor objects that you shouldn't manipulate directly). Let's explore it:

tank.right_speed # => 0
tank.left_speed # => 0

So for now, it's not actually outputting anything to the motor pins. To trigger that, you would call go (this is intended to be run in a loop)

tank.go

That will check the current tank state, and change the GPIO pins to match that state.

For reference w/r/t how the motor objects work:

# Motors are set to go forward by default
left_motor.direction # => :forward
# The motor hasn't been engaged, so no pins have been set high
# They are set low on initialization
left_motor.go
# Now the `forward` pin is high, the `backward` pin is low, and the `enable` pin is high.
left_motor.go_backward
# Now the `forward` pin is low, the `backward` pin is high, and the `enable` pin is high.
left_motor.stop
# Now nothing changed except the `enable` pin is low.
left_motor.speed = 0.5
# Now the `enable` pin will be high half the time

References

We were going to use ServoBlaster to manage the motors.

Buuuut someone already made the modifications we needed, so we're using PiBlaster

Development

To run the tests:

rake