execution (partial)

lib/ev3/body/color_sensor.ex

@@ -85,13 +85,4 @@ defmodule Ev3.ColorSensor do
 		LegoSensor.set_mode(sensor, @color)
 	end
 
-	# Give currently set mode
-  defp mode(sensor) do
-		case LegoSensor.mode(sensor) do
-			@reflect -> :reflect
-			@ambient -> :ambient
-			@color -> :color
-    end
-  end
-
 end

lib/ev3/body/infrared_sensor.ex

@@ -133,13 +133,4 @@ defmodule Ev3.InfraredSensor do
 		LegoSensor.set_mode(sensor, @remote)
 	end		
 
-	# Give currently set mode
-  defp mode(sensor) do
-		case LegoSensor.mode(sensor) do
-			@proximity -> :proximity
-			@seek -> :seek
-			@remote -> :remote
-    end
-  end
-
 end

lib/ev3/body/lego_motor.ex

@@ -16,11 +16,11 @@ defmodule Ev3.LegoMotor do
 			|> Enum.filter(&(String.starts_with?(&1, @prefix)))
 			|> Enum.map(&(init_motor("#{@sys_path}/#{&1}")))
 		else
-			[Ev3.Mock.Tachomotor.new(:large), Ev3.Mock.Tachomotor.new(:medium)]
+			[Ev3.Mock.Tachomotor.new(:large, "A"), Ev3.Mock.Tachomotor.new(:medium, "B")]
 		end
   end
 
-	defp dispatch(motor) do
+	defp module_for(_motor) do
 		if !Ev3.testing?() do
 			Ev3.Tachomotor
 		else
@@ -30,14 +30,14 @@ defmodule Ev3.LegoMotor do
 
  @doc "Get the list of senses from a motor"
 	def senses(motor) do
-		apply(dispatch(motor), :senses, [motor])
+		apply(module_for(motor), :senses, [motor])
 	end
 
 
 	@doc "Read the value of a sense from a motor"
 	def read(motor, sense) do # {value, updated_motor} - value can be nil
 		try do
-			apply(dispatch(motor), :read, [motor, sense])
+			apply(module_for(motor), :read, [motor, sense])
 		rescue
 			error ->
 				Logger.warn("#{inspect error} when reading #{inspect sense} from #{inspect motor}")
@@ -47,12 +47,12 @@ defmodule Ev3.LegoMotor do
 
 	@doc "Get how long to pause between reading a sense from a motor. In msecs"
 	def pause(motor) do
-			apply(dispatch(motor), :pause, [motor])
+			apply(module_for(motor), :pause, [motor])
 	end
 
 	@doc "Get the resolution of a motor (the delta between essentially identical readings). Nil or an integer."
 	def sensitivity(motor, sense) do
-			apply(dispatch(motor), :sensitivity, [motor, sense])
+			apply(module_for(motor), :sensitivity, [motor, sense])
 	end
 
 	  @doc "Is this a large motor?"
@@ -65,6 +65,10 @@ defmodule Ev3.LegoMotor do
 		motor.type == :medium
   end
 
+	def execute_command(motor, command, params) do
+		apply(module_for(motor), command, [motor | params])
+	end
+
 	### PRIVATE
 
   defp init_motor(path) do

lib/ev3/body/lego_sensor.ex

@@ -21,7 +21,7 @@ defmodule Ev3.LegoSensor do
 		end
   end
 
-	defp dispatch(sensor) do
+	defp module_for(sensor) do
 		if !Ev3.testing?() do
 			case sensor.type do
 				:touch -> Ev3.TouchSensor
@@ -39,14 +39,14 @@ defmodule Ev3.LegoSensor do
 
 	@doc "Get the list of senses from a sensor"
 	def senses(sensor) do
-		apply(dispatch(sensor), :senses, [sensor])
+		apply(module_for(sensor), :senses, [sensor])
 	end
 
 
 	@doc "Read the value of a sense from a sensor"
 	def read(sensor, sense) do # {value, updated_sensor} - value can be nil
 		try do
-			apply(dispatch(sensor), :read, [sensor, sense])
+			apply(module_for(sensor), :read, [sensor, sense])
 		rescue
 			error ->
 				Logger.warn("#{inspect error} when reading #{inspect sense} from #{inspect sensor}")
@@ -56,12 +56,12 @@ defmodule Ev3.LegoSensor do
 
 	@doc "Get how long to pause between reading a sense from a sensor. In msecs"
 	def pause(sensor) do
-			apply(dispatch(sensor), :pause, [sensor])
+			apply(module_for(sensor), :pause, [sensor])
 	end
 
 	@doc "Get the resolution of a sensor (the delta between essentially identical readings). Nil or an integer."
 	def sensitivity(sensor, sense) do
-			apply(dispatch(sensor), :sensitivity, [sensor, sense])
+			apply(module_for(sensor), :sensitivity, [sensor, sense])
 	end
 
 	@doc "Is this the ultrasonic sensor?"

lib/ev3/body/mock/mock_tacho_motor.ex

@@ -2,11 +2,13 @@ defmodule Ev3.Mock.Tachomotor do
 	@moduledoc "A mock large tachomotor"
 
 	@behaviour Ev3.Sensing
+	@behaviour Ev3.Moving
 
-	def new(type) do
-			 %Ev3.Device{class: :motor,
-						path: "/mock/#{type}_tachomotor", 
-						type: type}
+	def new(type, port_name) do
+		%Ev3.Device{class: :motor,
+								path: "/mock/#{type}_tachomotor", 
+								type: type,
+								port: port_name}
   end
 
  # Sensing
@@ -32,6 +34,74 @@ defmodule Ev3.Mock.Tachomotor do
 		nil
 	end
 
+	# Moving
+
+	def reset(motor) do
+		IO.puts("Resetting #{motor.path}")
+		motor
+	end
+
+	def set_speed(motor, mode, speed) do
+		IO.puts("Setting the speed of #{motor.path} to #{speed} #{mode}")
+		motor
+	end
+
+	def reverse_polarity(motor) do
+		IO.puts("Reversing polarity of #{motor.path}")
+		motor
+	end
+
+	def set_duty_cycle(motor, duty_cycle) do
+		IO.puts("Setting the duty cycle of #{motor.path} to #{duty_cycle}")
+		motor
+	end
+
+	def set_ramp_up(motor, msecs) do
+		IO.puts("Setting ramp-up of #{motor.path} to #{msecs} msecs")
+		motor
+	end
+
+	def set_ramp_down(motor, msecs) do
+		IO.puts("Setting ramp-up of #{motor.path} to #{msecs} msecs")
+		motor
+	end
+
+	def run(motor) do
+		IO.puts("Running #{motor.path}")
+		motor
+	end
+
+	def run_to_absolute(motor, degrees) do
+		IO.puts("Running #{motor.path} to #{degrees} absolute degrees")
+		motor
+	end
+
+	def run_to_relative(motor, degrees) do
+		IO.puts("Running #{motor.path} to #{degrees} relative degrees")
+		motor
+	end
+
+	def run_for(motor, msecs) when is_integer(msecs) do
+		IO.puts("Running #{motor.path} for #{msecs} msecs")
+		:timer.sleep(msecs)
+		motor
+	end
+
+	def coast(motor) do
+		IO.puts("Coasting #{motor.path}")
+		motor
+	end
+
+	def brake(motor) do
+		IO.puts("Braking #{motor.path}")
+		motor
+	end
+
+	def hold(motor) do
+		IO.puts("Holding #{motor.path}")
+		motor
+	end
+
 	### PRIVATE
 
 	defp current_speed(motor) do

lib/ev3/body/mock/mock_touch_sensor.ex

@@ -15,7 +15,7 @@ defmodule Ev3.Mock.TouchSensor do
 		[:touch]
 	end
 
-	def read(sensor, sense) do
+	def read(sensor, _sense) do
 		value = case :random.uniform(2) - 1 do
 			0 -> :released
 			1 -> :pressed

lib/ev3/body/moving.ex

@@ -0,0 +1,31 @@
+defmodule Ev3.Moving do
+	use Behaviour
+
+
+	defcallback reset(motor :: %Ev3.Device{}) :: %Ev3.Device{}
+
+	defcallback set_speed(motor :: %Ev3.Device{}, mode :: atom, speed :: number) :: %Ev3.Device{}
+
+	defcallback reverse_polarity(motor :: %Ev3.Device{}) :: %Ev3.Device{} 
+
+	defcallback set_duty_cycle(motor :: %Ev3.Device{}, duty_cycle :: number) :: %Ev3.Device{}  
+
+	defcallback run(motor :: %Ev3.Device{}) :: %Ev3.Device{}  
+
+	defcallback run_for(motor :: %Ev3.Device{}, duration :: number) :: %Ev3.Device{}  
+
+	defcallback run_to_absolute(motor :: %Ev3.Device{}, degrees :: number) :: %Ev3.Device{}  
+
+	defcallback run_to_relative(motor :: %Ev3.Device{}, degrees :: number) :: %Ev3.Device{}  
+
+	defcallback coast(motor :: %Ev3.Device{}) :: %Ev3.Device{}  
+
+	defcallback brake(motor :: %Ev3.Device{}) :: %Ev3.Device{}  
+
+	defcallback hold(motor :: %Ev3.Device{}) :: %Ev3.Device{}
+
+  defcallback set_ramp_up(motor :: %Ev3.Device{}, msecs :: number) :: %Ev3.Device{}
+
+	defcallback set_ramp_down(motor :: %Ev3.Device{}, msecs :: number) :: %Ev3.Device{}
+
+end

lib/ev3/body/tachomotor.ex

@@ -2,6 +2,7 @@ defmodule Ev3.Tachomotor do
 	@moduledoc "A tacho motor"
 
 	@behaviour Ev3.Sensing
+	@behaviour Ev3.Moving
 
 	alias Ev3.Device
 	alias Ev3.LegoMotor
@@ -36,7 +37,7 @@ defmodule Ev3.Tachomotor do
 		end
 	end
 
-	####
+	#### Acting
 
 	@doc "Reset a motor to defaul control values"
   def reset(motor) do
@@ -60,17 +61,21 @@ defmodule Ev3.Tachomotor do
 		motor1 = set_control(motor, :time, msecs)
 		apply_motor_controls(motor1)
 		execute_command(motor1, "run-timed")
+		:timer.sleep(msecs)
 		motor1
   end
 
 	@doc "Run a motor to an absolute position in degrees according to controls"
   def run_to_absolute(motor, degrees) do
 		run_to_position(motor, :absolute, degrees)
+		# TODO wait until absolute position reached, or time out
+		motor
   end
 
 	@doc "Run a motor to a relative position in degrees according to controls"
   def run_to_relative(motor, degrees) do
 		run_to_position(motor, :relative, degrees)
+		# TODO wait until relative position reached, or time out
 		motor
   end
 
@@ -109,11 +114,6 @@ defmodule Ev3.Tachomotor do
     end
   end
 
-  @doc "Get current polarity"
-  def polarity(motor) do
-		get_control(motor, :polarity)
-  end
-
 	@doc "Change the motor's duty cycle. Immediately effective only when running direct"
   def set_duty_cycle(motor, value) when value in -100 .. 100 do
 		set_attribute(motor, "duty_cycle_sp", value) #takes effect immediately
@@ -122,11 +122,6 @@ defmodule Ev3.Tachomotor do
 		 |> set_control(:speed, 0)
   end
 
-  @doc "Get target duty cycle"
-  def target_duty_cycle(motor) do
-		get_control(motor, :duty_cycle)
-  end
-
 	@doc "Set the target speed to maintain in degrees per second"
   def set_speed(motor, :dps, value) when is_number(value) do
 		count_per_sec = round(value * count_per_rot(motor) / 360)
@@ -145,16 +140,6 @@ defmodule Ev3.Tachomotor do
 		|> set_control(:speed, count_per_sec)
   end
 
-	@doc "Get the target speed in rotations per second"
-  def target_speed(motor, :rps) do # rotations per second
-    get_control(motor, :speed) / count_per_rot(motor)
-  end
-
-	@doc "Get the target speed in degrees per second"
-  def target_speed(motor, :dps) do # degrees per second
-		get_control(motor, :speed) * (360 / count_per_rot(motor))
-  end
-
   @doc "Set the target position in degrees"
 	def set_target_degrees(motor, degrees) when is_number(degrees) do
 		count = round(degrees * count_per_rot(motor) / 360)
@@ -187,6 +172,28 @@ defmodule Ev3.Tachomotor do
 		set_control(motor, :ramp_down, msecs)
  end
 
+###########
+
+  @doc "Get target duty cycle"
+  def target_duty_cycle(motor) do
+		get_control(motor, :duty_cycle)
+  end
+
+	@doc "Get the target speed in rotations per second"
+  def target_speed(motor, :rps) do # rotations per second
+    get_control(motor, :speed) / count_per_rot(motor)
+  end
+
+	@doc "Get the target speed in degrees per second"
+  def target_speed(motor, :dps) do # degrees per second
+		get_control(motor, :speed) * (360 / count_per_rot(motor))
+  end
+
+	@doc "Get current polarity"
+  def polarity(motor) do
+		get_control(motor, :polarity)
+  end
+
 	@doc "Get the actual motor speed"
   def current_speed(motor, mode) do
 		speed = get_attribute(motor, "speed", :integer)