Feature/physics

.rvmrc

@@ -1,5 +1,5 @@
-if [ -f "$0".local ]; then
-  source "$0".local
+if [ -f .rvmrc.local ]; then
+  source .rvmrc.local
 else
   rvm use 1.9.3
 fi

Gemfile

@@ -20,6 +20,11 @@ group :assets do
   gem 'twitter-bootstrap-rails'
 end
 
+group :development,:test do
+  gem 'debugger'
+  gem 'ein' #physics simulator
+end
+
 group :development do
   gem 'thin'
 end

Gemfile.lock

@@ -39,8 +39,17 @@ GEM
       coffee-script-source
       execjs
     coffee-script-source (1.2.0)
+    columnize (0.3.6)
     commonjs (0.2.5)
     daemons (1.1.8)
+    debugger (1.2.3)
+      columnize (>= 0.3.1)
+      debugger-linecache (~> 1.1.1)
+      debugger-ruby_core_source (~> 1.1.5)
+    debugger-linecache (1.1.2)
+      debugger-ruby_core_source (>= 1.1.1)
+    debugger-ruby_core_source (1.1.6)
+    ein (0.0.2)
     erubis (2.7.0)
     eventmachine (0.12.10)
     execjs (1.3.0)
@@ -139,6 +148,8 @@ PLATFORMS
 
 DEPENDENCIES
   coffee-rails
+  debugger
+  ein
   jquery-rails
   json
   minitest

README.md

@@ -29,17 +29,23 @@ Jump in console and give the basic simulation a shot.
 
 ````ruby
 $ rails c
-:001 > earth = World.new
-:002 > roo = RoombaSimulation.new
-:003 > earth.spawn(roo)
-:004 > roo.move(100)
-:005 > roo.move(0,120)
-:006 > roo.move(1000)
+:001 > simulator = Simulator.new
+:002 > roo = RoombaSimulation.new(simulator)
+:004 > simulator.start
+:005 > roo.move(100)
+:006 > roo.move(0,90)
+:007 > roo.move(1000)
 ````
 You should end up with a bump reading at N:90, X:126 Y:89
 
 X:126 is the center point of Simulated Roomba. Add the radius of Roomba + the radius of the obstacle and it should be the same as the distance between X:126 and the default simulated obstacle.
 
+If you want to get information of each step of the simulation do:
+
+```Ruby
+LOGGER.level = Logger::DEBUG
+```
+
 Or jump into the rails app and play around.
 
 ````

app/controllers/simulations_controller.rb

@@ -13,12 +13,15 @@ def index
   # GET /simulations/1
   # GET /simulations/1.json
   def show
+    #TODO: serialize/deserialize sim from DB
     @simulation = Simulation.find(params[:id])
+    # TODO: This is confusing
+    # Watch out! Simulator != Simulation . 
+    simulator = Simulator.new
+    @world = simulator.world
 
     #this is super crap, just for debugging ATM, moving out soon
-    @world = World.new
-    @roombot = RoombaSimulation.new
-    @world.spawn(@roombot)
+    @roombot = RoombaSimulation.new(simulator)
 
     respond_to do |format|
       format.html # show.html.erb

config/application.rb

@@ -17,7 +17,7 @@ class Application < Rails::Application
 
     # Custom directories with classes and modules you want to be autoloadable.
     # config.autoload_paths += %W(#{config.root}/extras)
-    config.autoload_paths += %W(#{config.root}/lib)
+    config.autoload_paths += %W(#{config.root}/lib #{config.root}/lib/simulator)
 
     # Only load the plugins named here, in the order given (default is alphabetical).
     # :all can be used as a placeholder for all plugins not explicitly named.

lib/byte_processing.rb

@@ -0,0 +1,13 @@
+module ByteProcessing
+
+  def signed_integer(bytes)
+    case bytes.size
+    when 1
+      return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7))
+    when 2
+      sixteenbit = bytes[0] << 8 | bytes[1]
+      return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15))#http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement
+    end
+  end
+
+end

lib/calculations.rb

@@ -0,0 +1,12 @@
+module Calculations
+  def calculate_spin_time(velocity, degree)
+    # time = wheelbase * PI / 360degrees * degrees / velocity ABS
+    # wheelbase might be different for different roombas, consider refactoring
+    ((((Roomba::Specification::WHEELBASE * Math::PI) / 360) * degree.abs).to_f / velocity.to_f).abs
+  end
+
+  #spinning needs some work
+  def calculate_spin_degree(velocity, time)
+    ((time.to_f * velocity.to_f) / ((Roomba::Specification::WHEELBASE * Math::PI) / 360)) #/ 10**10
+  end
+end

lib/roomba.rb

@@ -19,6 +19,8 @@ class Roomba
     :saturday  => '01000000'
   }
 
+  include ByteProcessing
+  include Calculations
 
   def initialize(port, latency=0.1, baud=115200, serial=nil)
     # baud must be 115200 for communicating with 500 series Roomba and newer (tested with Roomba 770), change to 57600 for 400 series and older
@@ -65,9 +67,9 @@ def move(distance, degree=0, velocity=200)
     set_velocity(velocity)
     set_degree(degree)
     drive(@velocity_high, @velocity_low, @radius_high, @radius_low)
-    start_moving = Time.now
     time_in_seconds = 10 if time_in_seconds > 10
-    until (start_moving - Time.now).abs >= time_in_seconds
+    start_moving = current_time
+    until (start_moving - current_time).abs >= time_in_seconds
       # sensors call sleeps the script for 20ms, max read is 50ms, total time between loops about 65ms
       sensors = get_readings(:bumps_and_drops, :wall)
       @messages.push sensors
@@ -77,15 +79,10 @@ def move(distance, degree=0, velocity=200)
     sensors
   end
 
-  def calculate_spin_time(velocity, degree)
-    # time = wheelbase * PI / 360degrees * degrees / velocity ABS
-    # wheelbase might be different for different roombas, consider refactoring
-    ((((WHEELBASE * Math::PI) / 360) * degree.abs).to_f / velocity.to_f).abs
-  end
-
-  #spinning needs some work
-  def calculate_spin_degree(velocity, time)
-    ((time.to_f * velocity.to_f) / ((WHEELBASE * Math::PI) / 360)) / 10**10
+  #This is overwritten in the roomba_simulation so we can use simulation
+  #time instead of real world time.
+  def current_time
+    Time.now
   end
 
   def set_degree(degree)
@@ -166,7 +163,7 @@ def get_readings(*sensors_requested)
       readings[sensor] = {:raw => nil, :formatted => []}
       readings[sensor][:raw] = bytes.shift(SENSORS[sensor][:bytes])
       readings[sensor][:formatted] = set_readings(sensor, readings[sensor][:raw])
-      puts "Sensors: #{readings[sensor].inspect}"
+      #puts "Sensors: #{readings[sensor].inspect}"
     end
     readings #return hash of readings
   end
@@ -189,16 +186,6 @@ def set_readings(sensor, readings)
     end
   end
 
-  def signed_integer(bytes)
-    case bytes.size
-    when 1
-      return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7))
-    when 2
-      sixteenbit = bytes[0] << 8 | bytes[1]
-      return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15))#http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement
-    end
-  end
-
   def motors
     motors(1)
     sleep 2