Scottish Ruby Conference 2010 Arduino, Ruby RAD

Arduino and Ruby
with a (tiny bit of) shoes
Martin Evans

Summary
• Arduino
• RAD (Ruby Arduino Development)
• Examples
• Projects

Arduino
• http://arduino.cc
• Examples
• Tutorials
• Downloads
• Forum

Hardware

Photo by adafruit - http://ﬂic.kr/p/7LyorG

Photo by pt - http://ﬂic.kr/p/7Luj6T

Duemilanove (2009)
• ATMega328p

• 60,000 sold 2009

• 6 Analog pins

• 14 Digital pins

• PWM: 3, 5, 6, 9, 10,
and 11.

• 16 Mhz

•
Photo by vouki - http://ﬂic.kr/p/5V6KkG
Auto external Voltage

Diecimila (10 thousand)
• ATMega168

• 16 Mhz

• 14 digital I/O 6 pwm

• 6 Analog inputs

• 7 - 12 v

Photo by Remko van Dokkum - http://ﬂic.kr/p/54JcXJ

Mega
• ATMega1280

• Analog 16 pins

• 54 Digital

• 14 PWM

Photo by Spikenzie - http://ﬂic.kr/p/6ahHFu

Nano Lilypad

Mini

Photo by dodeckahedron - http://
ﬂic.kr/p/3fM8aA

Photo by Osamu Iwasaki - http://ﬂic.kr/p/79ymo7

Shields
• Ethernet

• Wiﬁ

• Motor

• I/O

• Xbee

• Prototype

Photo by knolleary - http://ﬂic.kr/p/4YaR9k

Motor controller

Photo by Alcoholwang - http://ﬂic.kr/p/69yE7E

I/O Board

Photo by Alcoholwang - http://ﬂic.kr/p/69yEch

Software
• Processing

• Basic IDE

• Cross platform

• Latest Version is 18

RAD
• Ruby Arduino Development
• Greg Borenstein 2007
• git://github.com/atduskgreg/rad.git
• http://github.com/madrona/rad

Installation
$ sudo gem install madrona-rad

$ rad example

Scottish Ruby Conference 2010 Arduino, Ruby RAD

Hardware.yml
############################################################
##
# Today's MCU Choices (replace the mcu with your arduino board)
# atmega8 => Arduino NG or older w/ ATmega8
# atmega168 => Arduino NG or older w/ ATmega168
# mini => Arduino Mini
# bt => Arduino BT
# diecimila => Arduino Diecimila or Duemilanove w/ ATmega168
# nano => Arduino Nano
# lilypad => LilyPad Arduino
# pro => Arduino Pro or Pro Mini (8 MHz)
# atmega328 => Arduino Duemilanove w/ ATmega328
# mega => Arduino Mega

---
serial_port: /dev/tty.usbserial*
physical_reset: false
mcu: atmega168

software.yml
---
arduino_root: /Applications/arduino-0015

Getting Started with
Arduino
by Massimo Banzi

Blink LED
// Blinking LED

#deﬁne LED 13 // LED connected to
// Digital pin 13

void setup ()
{
pinMode(LED, OUTPUT); // sets the digital
// pin as output
}

void loop()
{
digitalWrite(LED, HIGH); // turns the LED on
delay(1000); // waits for a second
digitalWrite(LED, LOW); // turns the LED off
delay(1000); // waits for a second
}

Blink LED
class BlinkLed < ArduinoSketch

output_pin 13, :as => :led

def loop
blink led, 1000
end

end

Fade LED in and out
int ledPin = 9; // LED connected to digital pin 9

void setup() {
// nothing happens in setup
}

void loop() {
// fade in from min to max in increments of 5 points:
for(int fadeValue = 0 ; fadeValue <= 255; fadeValue +=5) {
// sets the value (range from 0 to 255):
analogWrite(ledPin, fadeValue);
// wait for 30 milliseconds to see the dimming effect
delay(30);
}

// fade out from max to min in increments of 5 points:
for(int fadeValue = 255 ; fadeValue >= 0; fadeValue -=5) {
// sets the value (range from 0 to 255):
analogWrite(ledPin, fadeValue);
// wait for 30 milliseconds to see the dimming effect
delay(30);
}
}

Fade LED in and out
class Analogled < ArduinoSketch

@i = 1

def loop
while @i < 255 do
analogWrite led, @i
@i +=5
delay 30
end
while @i > 0 do
analogWrite led, @i
@i -=5
delay 30
end
end
end

Blink LED analogue input
int sensorPin = 0; // select the input pin for the sensor
int ledPin = 13; // select the pin for the LED
int sensorValue = 0; // variable to store the value coming from
// the sensor

void setup() {
// declare the ledPin as an OUTPUT:
pinMode(ledPin, OUTPUT);
}

void loop() {
// read the value from the sensor:
sensorValue = analogRead(sensorPin);
// turn the ledPin on
digitalWrite(ledPin, HIGH);
// stop the program for <sensorValue> milliseconds:
delay(sensorValue);
// turn the ledPin off:
digitalWrite(ledPin, LOW);
// stop the program for for <sensorValue> milliseconds:
delay(sensorValue);
}

Blink LED analogue input
class Analoginput < ArduinoSketch

@val = 0

def loop
@val = analogRead(0)
digitalWrite (led, 1)
delay @val
digitalWrite (led, 0)
delay @val
end
end

Serial Read
class Serialcom1 < ArduinoSketch

input_pin 0, :as => :sensor

serial_begin :rate => 19200

def loop
serial_println analogRead sensor
delay 1000
end
end

Plugins and Libraries
• C Methods, directives,
external variables and
assignments and calls
that maybe added to
main setup method

• Arduino libraries

Servo code
class Servo < ArduinoSketch
output_pin 11, :as => :servo, :device => :servo
def loop
servo_refresh
servo.position 90
end
end

class Servo < ArduinoSketch
output_pin 11, :as => :my_servo, :device => :servo
def loop
servo_refresh
my_servo.position 180
servo_delay 1000
my_servo.position 0
servo_delay 1000
end

def servo_delay(t)
t.times do
delay 1
servo_refresh
end
end
end

Example Projects
Ruby on Bells

Barduino

Flying Robot

Ruby on Bells

JD Barnhart

Barduino
Matthew Williams

http://github.com/mwilliams/barduino

Barduino

Photo by aeden - http://ﬂic.kr/p/5uy7DX

Flying Robot
Damen and Ron Evans

http://wiki.github.com/deadprogrammer/ﬂying_robot/

http://github.com/deadprogrammer/
ﬂying_robot_blimpduino

http://deadprogrammersociety.blogspot.com/

Flying Robot

Photo by Austin Ziegler - http://ﬂic.kr/p/6DXQqV

Shoes

• Snow Leopard Fail
• Toholio serial gem

Flying Robot code
• Background
• Draw images
• Serial update
• XBee

Shoes.setup do
gem 'toholio-serialport'
end

require "serialport"
require 'lib/ﬂying_robot_proxy'

FLYING_ROBOT = FlyingRobotProxy.new

def draw_background
@centerx, @centery = 126, 140

ﬁll white
stroke black
strokewidth 4
oval @centerx - 102, @centery - 102, 204, 204

ﬁll black
nostroke
oval @centerx - 5, @centery - 5, 10, 10

stroke black
strokewidth 1
line(@centerx, @centery - 102, @centerx, @centery - 95)
line(@centerx - 102, @centery, @centerx - 95, @centery)
line(@centerx + 95, @centery, @centerx + 102, @centery)
line(@centerx, @centery + 95, @centerx, @centery + 102)
@north = para "N", :top => @centery - 130, :left => @centerx - 10
@south = para "S", :top => @centery + 104, :left => @centerx - 10
@west = para "W", :top => @centery - 12, :left => @centerx - 126
@east = para "E", :top => @centery - 12, :left => @centerx + 104
end

def draw_compass_hand
@centerx, @centery = 126, 140
@current_reading = @compass.to_f #[17, @compass.length].to_f
return if @current_reading == 0.0
# the compass is oriented in reverse on the blimpduino, so switch it
@current_reading = (@current_reading + 180).modulo(360)
_x = 90 * Math.sin( @current_reading * Math::PI / 180 )
_y = 90 * Math.cos( @current_reading * Math::PI / 180 )
stroke black
strokewidth 6
line(@centerx, @centery, @centerx + _x, @centery - _y)
end

Sharp GP2D12

Photo by hmblgrmpf - http://ﬂic.kr/p/hJmoM

Sharp GP2D12 code
class Sharpir < ArduinoSketch
# Analog input for sharp Infrared sensors GP2D12
input_pin 0, :as => :ir_sensor_right
# variables for checking for obstruction
@range = "0, int"
serial_begin

def loop
range_ir_sensor
delay 10
end

def range_ir_sensor
@range = analogRead(ir_sensor)
if (@range> 3) then
@range = (6787 / (@range - 3)) - 4
serial_print "sensor: "
serial_println @range
delay 1000
end
end
end

Devantech SRF05

Photo by Lucky Larry - http://ﬂic.kr/p/6E5pZZ

Devantech SRF05
class Rangeﬁnding < ArduinoSketch

@sig_pin = 2

serial_begin

def loop
serial_println(pingsrf05(@sig_pin))
end
end

class Srf05 < ArduinoPlugin

# Triggers a pulse and returns distance in cm.

long pingsrf05(int ultraSoundpin) {
unsigned long ultrasoundDuration;
// switch pin to output
pinMode(ultraSoundpin, OUTPUT);

// send a low, wait 2 microseconds, send a high then wait 10us
digitalWrite(ultraSoundpin, LOW);
delayMicroseconds(2);
digitalWrite(ultraSoundpin, HIGH);
delayMicroseconds(10);
digitalWrite(ultraSoundpin, LOW);

// switch pin to input
pinMode(ultraSoundpin, INPUT);

// wait for a pulse to come in as high
ultrasoundDuration = pulseIn(ultraSoundpin, HIGH);
return(ultrasoundDuration/58);
}

end

Pachube
• http://www.pachube.com
• Sign up for account
• Get api key
• http://www.pachube.com/feeds/6445

Roo-bee
• Obstacle avoidance
• Sharp IR sensors
• Arduino Duemilanove
• Devantech SR05 Ultrasound
• Servo
• Solarbotics Motors

Suppliers
• Active robots: http://active-robots.com
• Ebay jzhaoket and yerobot
• http://asynclabs.com
• http://bitsbox.co.uk

Thanks
• Github http://github.com/lostcaggy
• Slides will be on slideshare later

Scottish Ruby Conference 2010 Arduino, Ruby RAD

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