adjusting for changes in skynet protocol

lib/controller.rb

@@ -15,15 +15,15 @@ class Controller
 
   def runFarmBot
 
-    check = @bot_dbaccess.checkRefresh
+    check = @bot_dbaccess.check_refresh
 
     while $shutdown == 0 do
 
       # keep checking the database for new data
 
       puts 'checking schedule'
-      command = @bot_dbaccess.getCommandToExecute
+      command = @bot_dbaccess.get_command_to_execute
-      @bot_dbaccess.saveRefresh
+      @bot_dbaccess.save_refresh
 
       if command != nil
 
@@ -38,7 +38,7 @@ class Controller
           puts 'execute command'
 
           process_command( command )
-          @bot_dbaccess.setCommandToExecuteStatus('FINISHED')
+          @bot_dbaccess.set_command_to_execute_status('FINISHED')
 
         else
 
@@ -55,7 +55,7 @@ class Controller
 
             sleep 1
 
-            refresh_received = @bot_dbaccess.checkRefresh
+            refresh_received = @bot_dbaccess.check_refresh
             puts 'refresh received' if refresh_received != false
 
           end
@@ -76,7 +76,7 @@ class Controller
 
           sleep 1
 
-          refresh_received = @bot_dbaccess.checkRefresh
+          refresh_received = @bot_dbaccess.check_refresh
           puts 'refresh received' if refresh_received != false
 
         end
@@ -90,17 +90,17 @@ class Controller
       cmd.commandlines.each do |command_line|
         case command_line.action.upcase
           when "MOVE ABSOLUTE"
-            $bot_hardware.moveAbsolute(command_line.coord_x, command_line.coord_y, command_line.coord_z)
+            $bot_hardware.move_absolute(command_line.coord_x, command_line.coord_y, command_line.coord_z)
           when "MOVE RELATIVE"
-            $bot_hardware.moveRelative(command_line.coord_x, command_line.coord_y, command_line.coord_z)
+            $bot_hardware.move_relative(command_line.coord_x, command_line.coord_y, command_line.coord_z)
           when "HOME X"
-            $bot_hardware.moveHomeX
+            $bot_hardware.move_home_x
           when "HOME Y"
-            $bot_hardware.moveHomeY
+            $bot_hardware.move_home_y
           when "HOME Z"
-            $bot_hardware.moveHomeZ
+            $bot_hardware.move_home_z
           when "SET SPEED"
-            $bot_hardware.setSpeed(command_line.speed)
+            $bot_hardware.set_speed(command_line.speed)
         end
       end
     else

lib/database/commandqueue.rb

@@ -1,81 +0,0 @@
-require 'bson'
-require 'mongo'
-require 'mongoid'
-
-require './app/models/command.rb'
-
-# This class is dedicated to retrieving and inserting commands into the command 
-# queue for the farm bot
-class CommandQueue
-
-  def initialize
-    Mongoid.load!("config/mongo.yml", :development)
-    @last_command_retrieved = nil
-    @refresh_value = 0
-    @refresh_value_new = 0
-
-    @new_command = nil
-  end
-
-  def create_new_command(scheduled_time)
-    @new_command = Command.new
-    @new_command.scheduled_time = scheduled_time
-  end
-
-  def add_command_line(action, x = 0, y = 0, z = 0, speed = 0, amount = 0)
-    if @new_command != nil
-      line = Commandline.new
-      line.action = action
-      line.coord_x = x
-      line.coord_y = y
-      line.coord_z = z
-      line.speed   = speed
-      line.amount  = amount
-      if @new_command.commandlines == nil
-        @new_command.commandlines = [ line ]
-      else
-        @new_command.commandlines << line
-      end
-    end
-  end
-
-  def save_new_command
-    if @new_command != nil
-      @new_command.status = 'test'
-      @new_command.save
-    end
-    increment_refresh
-  end
-
-  def get_command_to_execute
-    @last_command_retrieved = Command.where(
-      :status => 'test',
-      :scheduled_time.ne => nil
-      ).order_by([:scheduled_time,:asc]).first
-    @last_command_retrieved
-  end
-
-  def set_command_to_execute_status(new_status)
-    if @last_command_retrieved != nil
-      @last_command_retrieved.status = new_status
-      @last_command_retrieved.save
-    end
-  end
-
-  def check_refresh
-    r = Refresh.where(:name => 'FarmBotControllerSchedule').first_or_initialize
-    @refresh_value_new = r.value.to_i
-    return @refresh_value_new != @refresh_value
-  end
-
-  def save_refresh
-    @refresh_value = @refresh_value_new
-  end
-
-  def increment_refresh
-    r = Refresh.where(:name => 'FarmBotControllerSchedule').first_or_initialize
-    r.value = r.value.to_i + 1
-    r.save
-  end
-
-end

lib/database/controlcommand.rb

@@ -1,25 +0,0 @@
-# command message class that is put into the queue to execute by the farmbot
-class ControlCommand
-
-  def initialize
-    commandid = "NOP"
-  end
-
-  attr_accessor :lines, :commandid
-end
-
-class ControlCommandLine
-  attr_accessor :action
-  attr_accessor :xCoord, :xHome
-  attr_accessor :yCoord, :yHome
-  attr_accessor :zCoord, :zHome
-  attr_accessor :quantity, :speed
-
-  def parseText( text )
-    params = text.split(',')
-    @action = params[0].to_s
-    @xCoord = params[1].to_i
-    @yCoord = params[2].to_i
-    @zCoord = params[3].to_i
-  end
-end

lib/database/dbaccess.rb

@@ -6,6 +6,7 @@ require 'mongoid'
 # This class is dedicated to retrieving and inserting commands into the schedule
 # queue for the farm bot Mongo is used as the database, Mongoid as the
 # databasemapper
+
 class Command
   include Mongoid::Document
 
@@ -65,12 +66,12 @@ class DbAccess
     end
   end
 
-  def createNewCommand(scheduled_time)
+  def create_new_command(scheduled_time)
     @new_command = Command.new
     @new_command.scheduled_time = scheduled_time
   end
 
-  def addCommandLine(action, x = 0, y = 0, z = 0, speed = 0, amount = 0)
+  def add_command_line(action, x = 0, y = 0, z = 0, speed = 0, amount = 0)
     if @new_command != nil
       line = Commandline.new
       line.action = action
@@ -87,15 +88,15 @@ class DbAccess
     end
   end
 
-  def saveNewCommand
+  def save_new_command
     if @new_command != nil
       @new_command.status = 'test'
       @new_command.save
     end
-    incrementRefresh
+    increment_refresh
   end
 
-  def getCommandToExecute
+  def get_command_to_execute
     @last_command_retrieved = Command.where(
       :status => 'test',
       :scheduled_time.ne => nil
@@ -103,24 +104,24 @@ class DbAccess
     @last_command_retrieved
   end
 
-  def setCommandToExecuteStatus(new_status)
+  def set_command_to_execute_status(new_status)
     if @last_command_retrieved != nil
       @last_command_retrieved.status = new_status
       @last_command_retrieved.save
     end
   end
 
-  def checkRefresh
+  def check_refresh
     r = Refresh.where(:name => 'FarmBotControllerSchedule').first_or_initialize
     @refresh_value_new = r.value.to_i
     return @refresh_value_new != @refresh_value
   end
 
-  def saveRefresh
+  def save_refresh
     @refresh_value = @refresh_value_new
   end
 
-  def incrementRefresh
+  def increment_refresh
     r = Refresh.where(:name => 'FarmBotControllerSchedule').first_or_initialize
     r.value = r.value.to_i + 1
     r.save

lib/hardware/ramps.rb

@@ -18,7 +18,7 @@ class HardwareInterfaceAxis
 
   # set the pins for one motor with sensors
   #
-  def setPinMode()
+  def set_pin_mode()
 
     # set the pins for motor control to output
     @board.set_pin_mode(pin_enb, Firmata::Board::OUTPUT)
@@ -38,45 +38,45 @@ class HardwareInterfaceAxis
     
   end
 
-  def disableMotor()
+  def disable_motor()
     @board.digital_write(@pin_enb, Firmata::Board::HIGH)
   end
 
-  def enableMotor()
+  def enable_motor()
     @board.digital_write(@pin_enb, Firmata::Board::LOW)
   end
 
-  def setDirectionLow()
+  def set_direction_low()
     @board.digital_write(pin_dir, Firmata::Board::LOW)
     sleep @sleep_after_pin_set
 
-    enableMotor()
+    enable_motor()
   end
 
-  def setDirectionHigh()
+  def set_direction_high()
     @board.digital_write(pin_dir, Firmata::Board::HIGH)
     sleep @sleep_after_pin_set
 
-    enableMotor()
+    enable_motor()
   end
 
   # set the direction and enable pins to prepare for the move to the home position
   #
-  def moveHomeSetDirection()
+  def move_home_set_direction()
 
     if (invert_axis ^ reverse_home) == false
-      setDirectionLow()
+      set_direction_low()
     else
-      setDirectionHigh()
+      set_direction_high()
     end
 
   end
 
   # move the motor until the end stop is reached
   #
-  def moveHome()
+  def move_home()
 
-    moveHomeSetDirection()
+    move_home_set_direction()
 
     start = Time.now
     home  = 0
@@ -90,23 +90,27 @@ class HardwareInterfaceAxis
 
       if span > @move_home_timeout
         home = 1
-        puts 'move home #{@name} timed out'
+        puts "move home #{@name} timed out"
       end
 
-      if (@board.pins[@pin_min].value == 1 and @reverse_home == false) or 
+      if @board.pins[@pin_min].value == 1 and @reverse_home == false
-         (@board.pins[@pin_max].value == 1 and @reverse_home == true )
         home = 1
-        puts 'end stop home #{@name} reached'
+        puts "end stop home min #{@name} reached"
+      end
+
+      if @board.pins[@pin_max].value == 1 and @reverse_home == true
+        home = 1
+        puts "end stop home max #{@name} reached"
       end
 
       if home == 0
-        setPulseOnPin(@pin_stp)
+        set_pulse_on_pin(@pin_stp)
       end
 
     end
 
     # disable motor driver
-    disableMotor()
+    disable_motor()
 
     @pos = 0
 
@@ -114,7 +118,7 @@ class HardwareInterfaceAxis
 
   # set a pulse on a pin with enough sleep time so firmata kan keep up
   #
-  def setPulseOnPin(pin)
+  def set_pulse_on_pin(pin)
     @board.digital_write(pin, Firmata::Board::HIGH)
     sleep @sleep_after_pin_set
     @board.digital_write(pin, Firmata::Board::LOW)
@@ -124,17 +128,17 @@ class HardwareInterfaceAxis
 
   # prepare the move by setting the direction and enable
   #
-  def moveStepsPrepare(steps)
+  def move_steps_prepare(steps)
 
     @steps    = steps
     @nr_steps = steps.abs
 
     if (@steps < 0 and @invert_axis == false) or (@steps > 0 and @invert_axis == true)
-      setDirectionLow()
+      set_direction_low()
     end
 
     if (@steps > 0 and @invert_axis == false) or (@steps < 0 and @invert_axis == true)
-      setDirectionHigh()
+      set_direction_high()
     end
 
   end
@@ -142,16 +146,20 @@ class HardwareInterfaceAxis
 
   # move one motor a step if needed, while checking the end stops
   #
-  def moveSteps()
+  def move_steps()
 
       # check end stops
 
-      if (@board.pins[@pin_min].value == 1 and @steps < 0) or
+      if @board.pins[@pin_min].value == 1 and @steps < 0
-         (@board.pins[@pin_max].value == 1 and @steps > 0)
         @nr_steps = 0
-        @pos      = @min if @steps < 0
+        @pos      = @min
-        @pos      = @max if @steps > 0
+        puts "end stop min #{@name} reached"
-        puts "end stop #{@name} reached"
+      end
+
+      if @board.pins[@pin_max].value == 1 and @steps > 0
+        @nr_steps = 0
+        @pos      = @max
+        puts "end stop max #{@name} reached"
       end
 
       # check minimum and maximum position
@@ -164,7 +172,7 @@ class HardwareInterfaceAxis
       # send the step pulses to the motor drivers
 
       if @nr_steps > 0
-        setPulseOnPin(@pin_stp)
+        set_pulse_on_pin(@pin_stp)
 
         @pos      += 1.0 / @steps_per_unit * (@steps<=>0.0)
         @nr_steps -= 1
@@ -189,16 +197,16 @@ class HardwareInterface
     @axis_z = HardwareInterfaceAxis.new
 
 
-    loadConfig()
+    load_config()
-    connectBoard()
+    connect_board()
-    setPinNumbers()
+    set_pin_numbers()
-    setBoardPinMode()
+    set_board_pin_mode()
 
   end
 
   # set the hardware pin numbers
   #
-  def setPinNumbers
+  def set_pin_numbers
 
     @pin_led = 13
 
@@ -227,7 +235,7 @@ class HardwareInterface
 
   # connect to the serial port and start communicating with the arduino/firmata protocol
   #
-  def connectBoard
+  def connect_board
 
     @boardDevice = "/dev/ttyACM0"
     @board = Firmata::Board.new @boardDevice
@@ -241,7 +249,7 @@ class HardwareInterface
 
   # load the settings for the hardware
   # these are the timeouts and distance settings mainly
-  def loadConfig
+  def load_config
 
     @axis_x.move_home_timeout   = 15 # seconds after which home command is aborted
     @axis_y.move_home_timeout   = 15
@@ -271,42 +279,42 @@ class HardwareInterface
 
   # set motor driver and end stop pins to input or output output and set enables for the drivers to off
   #
-  def setBoardPinMode
+  def set_board_pin_mode
 
-    @axis_x.setPinMode()
+    @axis_x.set_pin_mode()
-    @axis_y.setPinMode()
+    @axis_y.set_pin_mode()
-    @axis_z.setPinMode()
+    @axis_z.set_pin_mode()
 
   end
 
   # move the bot to the home position
   #
-  def moveHomeX
+  def move_home_x
-    @axis_x.moveHome()
+    @axis_x.move_home()
-    @axis_x.disableMotor()
+    @axis_x.disable_motor()
   end
 
   # move the bot to the home position
   #
-  def moveHomeY
+  def move_home_y
-    @axis_y.moveHome()
+    @axis_y.move_home()
-    @axis_y.disableMotor()
+    @axis_y.disable_motor()
   end
 
   # move the bot to the home position
   #
-  def moveHomeZ
+  def move_home_z
-    @axis_z.moveHome()
+    @axis_z.move_home()
-    @axis_z.disableMotor()
+    @axis_z.disable_motor()
   end
 
-  def setSpeed( speed )
+  def set_speed( speed )
 
   end
 
   # move the bot to the give coordinates
   #
-  def moveAbsolute( coord_x, coord_y, coord_z)
+  def move_absolute( coord_x, coord_y, coord_z)
 
     puts '**move absolute **'
 
@@ -320,13 +328,13 @@ class HardwareInterface
     puts "y steps #{steps_y}"
     puts "z steps #{steps_z}"
 
-    moveSteps(steps_x, steps_y, steps_z )
+    move_steps(steps_x, steps_y, steps_z )
 
   end
 
   # move the bot a number of units starting from the current position
   #
-  def moveRelative( amount_x, amount_y, amount_z)
+  def move_relative( amount_x, amount_y, amount_z)
 
     puts '**move relative **'
 
@@ -340,19 +348,19 @@ class HardwareInterface
     puts "y steps #{steps_y}"
     puts "z steps #{steps_z}"
 
-    moveSteps( steps_x, steps_y, steps_z )
+    move_steps( steps_x, steps_y, steps_z )
 
   end
 
   # drive the motors so the bot is moved a number of steps
   #
-  def moveSteps(steps_x, steps_y, steps_z)
+  def move_steps(steps_x, steps_y, steps_z)
 
     # set the direction and the enable bit for the motor drivers
 
-    @axis_x.moveStepsPrepare(steps_x)
+    @axis_x.move_steps_prepare(steps_x)
-    @axis_y.moveStepsPrepare(steps_y)
+    @axis_y.move_steps_prepare(steps_y)
-    @axis_z.moveStepsPrepare(steps_z)
+    @axis_z.move_steps_prepare(steps_z)
 
     # loop until all steps are done
 
@@ -367,16 +375,16 @@ class HardwareInterface
       @board.read_and_process
 
       # move the motors
-      done_x = @axis_x.moveSteps()
+      done_x = @axis_x.move_steps()
-      done_y = @axis_y.moveSteps()
+      done_y = @axis_y.move_steps()
-      done_z = @axis_z.moveSteps()
+      done_z = @axis_z.move_steps()
 
     end
 
     # disable motor drivers
-    @axis_x.disableMotor()
+    @axis_x.disable_motor()
-    @axis_y.disableMotor()
+    @axis_y.disable_motor()
-    @axis_z.disableMotor()
+    @axis_z.disable_motor()
 
   end
 end

lib/skynet/messagehandler.rb

@@ -1,5 +1,6 @@
 require 'json'
-require './lib/database/commandqueue.rb'
+#require './lib/database/commandqueue.rb'
+require './lib/database/dbaccess.rb'
 
 # Get the JSON command, received through skynet, and send it to the farmbot
 # command queue Parses JSON messages received through SkyNet.
@@ -8,7 +9,7 @@ class MessageHandler
   attr_accessor :message
 
   def initialize
-    @command_queue    = CommandQueue.new
+    @dbaccess = DbAccess.new
     @last_time_stamp  = ''
   end
 
@@ -32,10 +33,22 @@ class MessageHandler
   #      "delay" : 6
   #   }
   # }
-  def handle_message(channel, message)
+
-    @message = message
+  def handle_message(message)
-    requested_command = message["message_type"].to_s.downcase
+
+    puts 'handle_message'
+    #puts message
+    #puts message['message']
+
+    @message = message['message']
+    #fromUuid = message['fromUuid']
+    #puts fromUuid 
+
+    requested_command = message['message']["message_type"].to_s.downcase
+    #puts requested_command
+
     if whitelist.include?(requested_command)
+      #puts 'sending'
       self.send(requested_command, message)
     else
       self.error(message)
@@ -49,7 +62,11 @@ class MessageHandler
   end
 
   def single_command(message)
-    time_stamp = message['time_stamp']
+
+    puts 'single_command'
+    #puts message
+
+    time_stamp = message['message']['time_stamp']
     sender = message['fromUuid']
 
     if time_stamp != @last_time_stamp
@@ -57,21 +74,21 @@ class MessageHandler
 
 
       # send the command to the queue
-      delay  = message['command']['delay']
+      delay  = message['message']['command']['delay']
-      action = message['command']['action']
+      action = message['message']['command']['action']
-      x      = message['command']['x']
+      x      = message['message']['command']['x']
-      y      = message['command']['y']
+      y      = message['message']['command']['y']
-      z      = message['command']['z']
+      z      = message['message']['command']['z']
-      speed  = message['command']['speed']
+      speed  = message['message']['command']['speed']
-      amount = message['command']['amount']
+      amount = message['message']['command']['amount']
-      delay  = message['command']['delay']
+      delay  = message['message']['command']['delay']
 
       puts "[new command] received at #{Time.now} from #{sender}"
-      #puts "[#{action}] x: #{x}, y: #{y}, z: #{z}, speed: #{speed}, amount: #{amount} delay: #{delay}"
+      puts "[#{action}] x: #{x}, y: #{y}, z: #{z}, speed: #{speed}, amount: #{amount} delay: #{delay}"
 
-      @command_queue.create_new_command(Time.now + delay.to_i)
+      @dbaccess.create_new_command(Time.now + delay.to_i)
-      @command_queue.add_command_line(action, x.to_i, y.to_i, z.to_i, speed.to_s, amount.to_i)
+      @dbaccess.add_command_line(action, x.to_i, y.to_i, z.to_i, speed.to_s, amount.to_i)
-      @command_queue.save_new_command
+      @dbaccess.save_new_command
 
       $skynet.confirmed = false
 

lib/skynet/skynet.rb

@@ -37,15 +37,19 @@ class Skynet
   # Acts as the entry point for message traffic captured from Skynet.im.
   # This method is a stub for now until I have time to merge into Tim's
   # controller code. Returns a MessageHandler object (a class yet created).
-  def handle_message(channel, message)
+  #def handle_message(channel, message)
+  def handle_message(message)
+
+puts "> message received at #{Time.now}"
+#puts message
 
     if message.class.to_s == 'Hash'
-      @message_handler.handle_message(channel, message)
+      @message_handler.handle_message(message)
     end
 
     if message.class.to_s == 'String'
       message_hash = JSON.parse(message)
-      @message_handler.handle_message(channel, message_hash)
+      @message_handler.handle_message(message_hash)
     end
 
   rescue

lib/skynet/web_socket.rb

@@ -22,8 +22,11 @@ module WebSocket
 
   ### Routes all skynet messages to handle_event() for interpretation.
   def create_message_event
-    @socket.on :message do |channel, message|
+    #@socket.on :message do |channel, message|
-      $skynet.handle_message(channel, message)
+    #  $skynet.handle_message(channel, message)
+    #end
+    @socket.on :message do |message|
+      $skynet.handle_message(message)
     end
   end
 

menu.rb

@@ -71,41 +71,41 @@ while $shutdown == 0 do
       # read the file
       #TestFileHandler.readCommandFile
     when "Z" # Move to home
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('HOME Z', 0, 0, 0, 0, 0)
+      $bot_dbaccess.add_command_line('HOME Z', 0, 0, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "X" # Move to home
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('HOME X', 0, 0, 0, 0, 0)
+      $bot_dbaccess.add_command_line('HOME X', 0, 0, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "C" # Move to home
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('HOME Y',0 ,0 ,-$move_size, 0, 0)
+      $bot_dbaccess.add_command_line('HOME Y',0 ,0 ,-$move_size, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "W" # Move forward
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('MOVE RELATIVE',0,$move_size, 0, 0, 0)
+      $bot_dbaccess.add_command_line('MOVE RELATIVE',0,$move_size, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "S" # Move back
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('MOVE RELATIVE',0,-$move_size, 0, 0, 0)
+      $bot_dbaccess.add_command_line('MOVE RELATIVE',0,-$move_size, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "A" # Move left
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('MOVE RELATIVE', -$move_size, 0, 0, 0, 0)
+      $bot_dbaccess.add_command_line('MOVE RELATIVE', -$move_size, 0, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "D" # Move right
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('MOVE RELATIVE', $move_size, 0, 0, 0, 0)
+      $bot_dbaccess.add_command_line('MOVE RELATIVE', $move_size, 0, 0, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "R" # Move up
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine('MOVE RELATIVE', 0, 0, $move_size, 0, 0)
+      $bot_dbaccess.add_command_line('MOVE RELATIVE', 0, 0, $move_size, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     when "F" # Move down
-      $bot_dbaccess.createNewCommand(Time.now + $command_delay)
+      $bot_dbaccess.create_new_command(Time.now + $command_delay)
-      $bot_dbaccess.addCommandLine("MOVE RELATIVE", 0, 0, -$move_size, 0, 0)
+      $bot_dbaccess.add_command_line("MOVE RELATIVE", 0, 0, -$move_size, 0, 0)
-      $bot_dbaccess.saveNewCommand
+      $bot_dbaccess.save_new_command
     end
 
 end