srv.rb

require "sinatra"
require "json"

system("gpio -g mode 14 out; gpio -g mode 17 out; gpio -g mode 27 out; gpio -g mode 15 out")
system("gpio -g write 15 0; gpio -g write 27 0")

def rad_to_degree(radian)
  radian.to_f * 180 / Math::PI
end

def degree_to_sleep_sec(degree)
  degree/300
end

set :bind, "0.0.0.0"

get "/turn_and_straight/:rad" do |rad|
  content_type :json

  degree = rad_to_degree(rad)
  if (degree < 180)
    # 左
    system("gpio -g write 17 1")
    sleep degree_to_sleep_sec(degree)
    system("gpio -g write 17 0")
  else
    # 右
    system("gpio -g write 14 1")
    sleep degree_to_sleep_sec(360 - degree)
    system("gpio -g write 14 0")
  end

  # 1秒間まっすぐ
  system("gpio -g write 14 1; gpio -g write 17 1")
  sleep 0.5
  system("gpio -g write 14 0; gpio -g write 17 0")

  response = {
    body: "success",
  }
  response.to_json
end