tokyorails/rrroomba — pull request #6 by JordiPolo (2012-10-14 08:38:09+00:00)
Title: add a simulation high level object and make serialsimulation not inherit...

... from roomba

I do not think this is ready to merge but I want you to take a look and comment on this.

- There is a new simulator class, wanted to call it simulation but we have a model with that name. running on a thread. So moving of the world and robots runs independently of the orders we get in the roomba interface(as it should be). This makes impossible to achieve some small movements. The minimal distance you can move is 28mm because the move method in Roomba is slow to discover it has already moved too much.

- RoombaSerialSimulation does not inherit from Roomba, to achieve that I have created a couple of modules with code from Roomba. Surely can be general enough to have more code in them.

- new RoombaSerialSimulation#step for updating the position of roomba in the world

- the RoombaSerialSimulation#prepare_readings stuff went to the previous method.
Now it just read if we have collition, before we were able to simulate the bumpers only been in front, now we are not doing that. So we have lost functionality, I hope to put back in before merging.

Tests pass
The example of the readme works but end up in a different point. Must investigate this also.