mruby-toppers-ev3rt

Classes and methods

EV3RT::Balancer

method	description
Balancer.new	Initialize balancer
Balancer#control	Call balancer API
Balancer#reset	Reset balancer

EV3RT::Battery

method	description
Battery.mA	Get the current draw from the battery
Battery.mV	Get battery battery voltage

EV3RT::Button

method	description
Button.new	Create Button object
Button.[]	Get Button object
Button#pressed?	Get button status

EV3RT::GyroSensor

method	description
GyroSensor.new	Create GyroSensor object
GyroSensor#angle	Get gyro angle
GyroSensor#rate	Get gyro rate
GyroSensor#reset	Reset gyro sensor
GyroSensor#calibrate	calibrate gyro sensor
GyroSensor#offset	Get gyro offset

EV3RT::LCD

method	description
LCD.new	Initialize LCD
LCD#font=	Set current font size
LCD#font	Get current font size
LCD#left	Get X-coordinate of screen left
LCD#top	Get Y-coordinate of screen top
LCD#width	Get screen width (pixels)
LCD#csrx	Get X-charactor-coordinate of cursor
LCD#csry	Get Y-charactor-coordinate of cursor
LCD#color=	Set foreground color
LCD#print	Prints the string at cursor position on window
LCD#puts	Puts the string that added newline at current cursor position on window
LCD#draw	Draw the string at specified coordinate of LCD
LCD#locate	Set the cursor position on window
LCD#clear	Clear window

EV3RT::LED

method	description
LED.color=c	Light LED
LED.off	LED turn off

EV3RT::Motor

method	description
Motor.new	Create Motor object
Motor#power=	Sets motor power
Motor#power	Gets motor current power
Motor#stop	Stop the motor
Motor#rotate	Rotate the motor
Motor#count	Get motor counter
Motor#reset	Resets motor counter

EV3RT::ColorSensor

method	description
ColorSensor.new	Create ColorSensor object
ColorSensor#ambient	Get ambient light level
ColorSensor#color	Get color
ColorSensor#reflect	Get reflected light level from red lED
ColorSensor#black?	It is determined whether black using the color sensor
ColorSensor#blue?	It is determined whether blue using the color sensor
ColorSensor#green?	It is determined whether green using the color sensor
ColorSensor#yellow?	It is determined whether yellow using the color sensor
ColorSensor#red?	It is determined whether red using the color sensor
ColorSensor#white?	It is determined whether white using the color sensor
ColorSensor#brown?	It is determined whether brown using the color sensor

EV3RT::SerialPort

method	description
SerialPort.new	Open serial port

EV3RT::Sound

method	description
Sound.tone	Play a tone, given its tone and duration
Sound.volume=	Set volume level
Sound.stop	Stop sound

EV3RT::TouchSensor

method	description
TouchSensor.new	Create TouchSensor object
TouchSensor#pressed?	Get touch sensor status

EV3RT::UltrasonicSensor

method	description
UltrasonicSensor.new	Create UltrasonicSensor object
UltrasonicSensor#distance	Measure distance to object in front of sensor
UltrasonicSensor#listen	Listen for the presence of other ultrasonic sensor

How to use

1. Prepare the files.

Please prepare the following files.

build_config.rb

Add the following lines to the build_config.rb

# Difine arm-none-eabi build settings
MRuby::CrossBuild.new('arm-ev3rt') do |conf|
  toolchain :gccarm

  conf.build_mrbtest_lib_only

  conf.gembox 'arm-ev3rt'

  conf.cc.defines = %w(EV3)

  conf.bins = %w()
end

MRuby::CrossBuild.new('arm-ev3rt-debug') do |conf|
  toolchain :gccarm

  conf.build_mrbtest_lib_only

  enable_debug

  conf.gembox 'arm-ev3rt'

  conf.cc.defines += %w(EV3)
  conf.cc.defines += %w(ENABLE_DEBUG)

  conf.bins = %w()
end

gccarm.rake

Create /mruby/tasks/toolchains/gccarm.rake, writes the following lines.

MRuby::Toolchain.new(:gccarm) do |conf|
  # C compiler settings
  [conf.cc, conf.cxx, conf.objc, conf.asm].each do |cc|
    cc.command = ENV['CC'] || 'arm-none-eabi-gcc'
    cc.flags = [ENV['CFLAGS'] || %w(
      -std=gnu99
      -mlittle-endian
      -O2
      -Wall
      -Wl,--no-warn-mismatch
    )]
    cc.defines = %w(
    )
  end

  # Archiver settings
  conf.archiver do |archiver|
    archiver.command = ENV['AR'] || 'arm-none-eabi-ar'
    archiver.archive_options = 'rcs %{outfile} %{objs}'
  end
end

arm-ev3rt.gembox

Create /mruby/mrbgems/arm-ev3rt.gembox, writes the following lines.

MRuby::GemBox.new do |conf|
  (list of mrbgems you want to use...)

  # Use EV3RT libraries
  conf.gem :git => "https://github.com/mimaki/mruby-toppers-ev3rt.git"
end

2. Generate a mruby Library.

Type the make in /mruby. libmruby.a is stored in /mruby/build/arm-ev3rt/lib/.

3. Link a mruby Library.

It shows an example of Makefile.inc.

LIBS += -L../../../mruby/build/arm-ev3rt/lib/ -lmruby -lm
INCLUDES += -I../../../mruby/include

4. Code the mruby of start-up program.

It shows an example of app.c.

#include "ev3api.h"
#include "app.h"
#include "mruby.h"
#include "mruby/dump.h"
#include "mruby/hash.h"
#include "mruby/variable.h"

#if defined(BUILD_MODULE)
#include "module_cfg.h"
#else
#include "kernel_cfg.h"
#endif

void _fini(void)
{
}

void main_task(intptr_t unused)
{
	mrb_state *mrb = mrb_open();
	mrbc_context *c;
	FILE* rbfp;

	c = mrbc_context_new(mrb);

	rbfp = fopen("app.mrb", "rb");
	if(rbfp != 0) {
		mrb_load_irep_file_cxt(mrb, rbfp, c);
		fclose(rbfp);
	}

	mrb_close(mrb);
	ext_tsk();
}

License

mruby-toppers-ev3rt is released under the MIT License.