https://github.com/mcarpenter/ksr10
This Ruby Gem provides a simple programming interface to the Velleman KSR10
robotic arm with USB control board. It's simple enough that it can be used from
the REPL. The krs10 script uses pry so that you can just call the instance
methods from the prompt. See the examples below.
For product details see:
require 'ksr10'
arm = Ksr10.new
arm.led(:on)
arm.elbow(:down, 0.5)
arm.gripper(:close, 1)
arm.stop$ ksr10
[1] pry(#<Ksr10>)> led(:on)
=> #<Ksr10:0x000055da9db684b0
@device=#<LIBUSB::Device 3/2 1267:0001 ? ? ? (Vendor specific (00,00))>,
@state=1,
@usb=#<LIBUSB::Context:0x000055da9db68488 @ctx=#<FFI::Pointer address=0x000055da9da582d0>, @hotplug_callbacks={}, @on_pollfd_added=nil, @on_pollfd_removed=nil>>
[2] pry(#<Ksr10>)> shoulder(:up, 0.4)
=> #<Ksr10:0x000055da9db684b0
@device=#<LIBUSB::Device 3/2 1267:0001 ? ? ? (Vendor specific (00,00))>,
@state=1,
@usb=#<LIBUSB::Context:0x000055da9db68488 @ctx=#<FFI::Pointer address=0x000055da9da582d0>, @hotplug_callbacks={}, @on_pollfd_added=nil, @on_pollfd_removed=nil>>
[3] pry(#<Ksr10>)>sudo apt install libusb-1.0-0 ruby-dev
sudo gem install ksr10Add the following lines to /etc/udev/rules.d/95-ksr10.rules so that
unprivileged users can connect to the KSR10:
ACTION=="add", SUBSYSTEM=="usb", ATTR{idVendor}=="1267", ATTR{idProduct}=="0000", MODE="0666"
ACTION=="add", SUBSYSTEM=="usb", ATTR{idVendor}=="1267", ATTR{idProduct}=="0001", MODE="0666"
If you find that the action is reversed (eg "up" is actually "down") then you can simply reverse the appropriate Dupont connector on the battery box to change the polarity.
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