Project

ksr10

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Interface and control script for the Velleman KSR-10 robotic arm.
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 Popularity
Downloads
2,216
Stars
0
Forks
1
Watchers
2
 Releases
Current version
1.0.0
Total releases
1
First release
2020-01-07
Latest release
2020-01-07
 Development
Primary Language
Ruby
Licenses
BSD-3-Clause
Average date of last 50 commits
2020-01-09
Reverse Dependencies
0

 Dependencies

Runtime

libusb
~> 0.6, >= 0.6.4
pry
~> 0.12, >= 0.12.2
 Project Readme

ksr10

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:

Examples

API

require 'ksr10'

arm = Ksr10.new
arm.led(:on)
arm.elbow(:down, 0.5)
arm.gripper(:close, 1)
arm.stop

REPL

$ 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>)>

Install

sudo apt install libusb-1.0-0 ruby-dev
sudo gem install ksr10

Add 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.

Alternatives