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, 500) arm.gripper(:close, 1000) 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, 400) => #<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 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¶ ↑
-
github.com/lvajxi03/roboarm (Python)
-
github.com/TristanvanLeeuwen/KSR10 (Python)