RubyOnWheels

The Toast Module that allows you to code in Ruby!

Travis CI Build Status:

An Introduction

Ruby on Wheels is a Toast Module that allows loading and compiling of Ruby scripts into the classpath, much like the inbuilt Groovy support. This is made possible by the JRuby API. A simple Ruby file to be loaded by RubyOnWheels is shown below:

#TestScript.rb
puts "Hello World!"                        # Prints to Toast's logger
motor = Toast::Motor.new :talon, :can, 1   # Creates a new Talon on the CAN Bus with ID 1
motor.set 0.4                              # Set the motor speed to 0.4 (40%)

Additionally, other ruby files can be loaded within these scripts like so

#RequireMe.rb
class RequireMe
  def execute
    puts "Require Me!"
  end
end

#Module.rb
class Module
  require 'RequireMe'

  req = RequireMe.new
  req.execute
end

#->Require Me!

Additionally, Ruby code can be compiled immediately via the CommandBus, similar to the 'Script' command present in the Toast core. This command can be executed as such.

ruby puts "Hello from the Command Bus!"
#->Hello from the Command Bus!

Here is an example of many of RubyOnWheels' most notable functions. For more details, look in the repository to see the Ruby SRC

Toast::Log << "Ruby Program Starting!"                        # These 2 methods do the same thing
puts "Ruby Program also Starting!"                            # They write to Toast's Logger

Toast::Log.puts :error, "Oh no!"                              # Writes an error to Toast's Logger

puts "Am I connected to FMS? #{Toast.FMS?}"                   # We include hooks for FMS, Simulation, whatever
puts "Am I in a simulated environment? #{Toast.simulation?}"

motor_1 = Toast::Motor.new 1        # Most subclasses have
motor_2 = Toast.motor 2             # a method shortcut to the constructor
motor_1.set 0.5
motor_2.set -0.5

motor_3 = Toast::Motor.new :jaguar, :pwm, 3    # Define your motor type and interface

drive = Toast::Drive.new 5, 6, 7, 8            # RobotDrive is implemented as well
drive.tank 0.75, 0.75

drive.mecanum 0.8, 0.4, 0.2                    # Mecanum drive was never easier
drive.polar 1, 20, 0.4

Toast.go {                                     # Need a new thread? Got ya fam
  puts "Hello World!"
}

Toast.tick :autonomous do                      # Equivilant of autonomousPeriodic
  # ...
end

Toast.tick {                                        # Periodic for all modes (disabled, autonomous, teleop, test)
  # ...
}

Toast.transition :teleop do |state, oldState|       # Need to check when we switch modes? No prob
  puts "I'm now in #{state} (I was in #{oldState})"
end

Toast.command "test_command_pls_ignore" do |args|   # Easy access to the CommandBus
  puts "Test: #{args}"
end

java_import "some.non.toast.package.MyClass"   # Did we miss a hook? No problem, it's easy to call it yourself.
MyClass.my_method

For more information on how Ruby implements with Java, take a look at the JRuby Repository

Downloads

Downloads (stable) can be found on the releases, and is similar in deployment to any other Toast module. For more details, refer to the Toast Repository.

If you wish to build the Module yourself from the SRC, you may do the following:

• Fork this Repo
• Mirror it to your local machine
• Run gradlew idea or gradlew eclipse, depending on your Development Environment.
• Run gradlew deploy to deploy to the RoboRIO