lego_nxt 0.0.1 → 0.0.2

data/.rspec

@@ -0,0 +1,3 @@
+--colour
+--format doc
+--order rand

data/.travis.yml

@@ -0,0 +1,7 @@
+rvm:
+  - 1.9.2
+  - 1.9.3
+script: "bundle exec rake spec"
+before_install:
+  #- sudo apt-get update
+  - sudo apt-get install libusb-1.0-0-dev

data/.yardopts

@@ -0,0 +1,6 @@
+--protected
+--no-private
+--markup markdown
+-
+README.md
+

data/Guardfile

@@ -0,0 +1,6 @@
+guard 'rspec', :version => 2 do
+  watch(%r{^spec/.+_spec\.rb$})
+  watch(%r{^lib/(.+)\.rb$})     { |m| "spec/lib/#{m[1]}_spec.rb" }
+  watch('spec/spec_helper.rb')  { "spec" }
+end
+

data/README.md

@@ -1,6 +1,8 @@
 # LegoNxt
 
-TODO: Write a gem description
+[![Build Status](https://secure.travis-ci.org/docwhat/lego_nxt.png?branch=master)](http://travis-ci.org/docwhat/lego_nxt)
+
+An object oriented interface for talking to the LEGO NXT brick.
 
 ## Installation
 
@@ -16,10 +18,74 @@ Or install it yourself as:
 
     $ gem install lego_nxt
 
+### Mac OS X
+
+You'll need a copy of [libusb](http://www.libusb.org/) and its development library installed.
+
+One easy way to do this is with [homebrew](http://mxcl.github.com/homebrew/):
+
+    brew install libusb
+
+To get the bluetooth working, it's pretty easy:
+
+1. Pair your NXT to your computer.
+1. In "Bluetooth Preference" in "System Preferences":
+  1. Click on "NXT" (This may be different if you renamed your NXT brick).
+  1. Click on the gear below the list box.
+  1. Select "Edit Serial Ports..."
+  1. Press the "+" button.  It should fill in as:
+    * Name: NXT-DevB
+    * Protocol: RS-232
+    * Service: Dev B
+  1. Click "Apply"
+
+You should now have two new devices in your `/dev` directory:
+  * `/dev/tty.NXT-DevB` -- This is what we'll use to talk to the NXT brick.
+  * `/dev/cu.NXT-DevB`
+
+### Linux
+
+You need a copy of [libusb](http://www.libusb.org/)'s development libraries.'
+
+TODO: Add instructions for setting up bluetooth.
+
+### Windows
+
+WARNING: I only use Windows at work. I don't own a personal copy and therefore
+don't use it.  However, my goal is to make this work on Windows with the help
+of people like you.  So find me on [http://freenode.net/] IRC as `docwhat` or
+via [docwhat.org](http://docwhat.org) if you have problems. Or file an issue!
+
+The [libusb](https://github.com/larskanis/libusb) gem has support for windows
+built in; it ships with a `libusb.dll` ready to use.
+
+You may need a USB driver. I'm hopeful that if you installed the lego NXT-G
+environment (the CD that came with Mindstorms) that you should be ready to go.
+If not, read the [libusb](https://github.com/larskanis/libusb) gem's docs.
+They suggest something called
+[Zadig](http://sourceforge.net/apps/mediawiki/libwdi/index.php?title=Main_Page).
+
+TODO: Add instructions for setting up bluetooth. Until then, see [this helpful
+document](http://www.eng.buffalo.edu/~colinlea/Bluetooth_With_NXT.pdf)
+
 ## Usage
 
 TODO: Write usage instructions here
 
+## Documentation
+
+The documentation is written for yard. Install the `yard` gem and you can
+use the `yri` command to browse the documentation.
+
+Alternatively, you can read the [online documentation](http://rubydoc.info/github/docwhat/lego_nxt/master/frames).
+
+## Testing
+
+Most tests will work without owning a NXT brick
+
+To run all the tests, including the ones that require a NXT brick, then you need to
+plugin your NXT brick, power it on, and run `rake usb:spec`
+
 ## Contributing
 
 1. Fork it
@@ -27,3 +93,12 @@ TODO: Write usage instructions here
 3. Commit your changes (`git commit -am 'Added some feature'`)
 4. Push to the branch (`git push origin my-new-feature`)
 5. Create new Pull Request
+
+## Reference Material
+
+Useful if you're going to be hacking on the code:
+
+* [libusb](https://github.com/larskanis/libusb) - The [docs](http://rubydoc.info/gems/libusb/LIBUSB) in particular.
+* [LEGO's Support Files](http://mindstorms.lego.com/en-us/support/files/default.aspx#Advanced) - In particular:
+ * The Bluetooth Developer Kit -- Appendix 1: LEGO MINDSTORMS NXT Communication protocol
+ * Software Development Kit -- The PDF contains a description of the Executable File Specification

data/Rakefile

@@ -1,2 +1,16 @@
 #!/usr/bin/env rake
+
 require "bundler/gem_tasks"
+require "yard"
+require "rspec/core/rake_task"
+
+YARD::Rake::YardocTask.new
+RSpec::Core::RakeTask.new(:spec)
+
+namespace :usb do
+  desc "Run RSpec code examples with a NXT connected via USB"
+  task :spec do
+    ENV['HAS_NXT'] = 'true'
+    Rake::Task["spec"].invoke
+  end
+end

data/lego_nxt.gemspec

@@ -2,16 +2,32 @@
 require File.expand_path('../lib/lego_nxt/version', __FILE__)
 
 Gem::Specification.new do |gem|
-  gem.authors       = ["Steve Klabnik"]
-  gem.email         = ["steve@steveklabnik.com"]
-  gem.description   = %q{A gem to interface with LEGO NXT robotics.}
-  gem.summary       = %q{A gem to interface with LEGO NXT robotics.}
-  gem.homepage      = "http://github.com/jumpstartlab/lego_nxt"
+  gem.authors               = ["Christian Höltje", "Steve Klabnik"]
+  gem.email                 = ["docwhat@gerf.org", "steve@steveklabnik.com"]
+  gem.description           = %q{A gem to interface with LEGO MINDSTORMS NXT bricks.}
+  gem.summary               = %q{A gem to interface with LEGO MINDSTORMS NXT bricks.}
+  gem.homepage              = "http://github.com/docwhat/lego_nxt"
 
-  gem.files         = `git ls-files`.split($\)
-  gem.executables   = gem.files.grep(%r{^bin/}).map{ |f| File.basename(f) }
-  gem.test_files    = gem.files.grep(%r{^(test|spec|features)/})
-  gem.name          = "lego_nxt"
-  gem.require_paths = ["lib"]
-  gem.version       = LegoNxt::VERSION
+  gem.files                 = `git ls-files`.split($\)
+  gem.executables           = gem.files.grep(%r{^bin/}).map{ |f| File.basename(f) }
+  gem.test_files            = gem.files.grep(%r{^(test|spec|features)/})
+  gem.name                  = "lego_nxt"
+  gem.require_paths         = ["lib"]
+  gem.version               = LegoNXT::VERSION
+  gem.required_ruby_version = "~> 1.9.2"
+
+  gem.add_runtime_dependency 'libusb', '~> 0.1.3'
+
+  gem.add_development_dependency 'rake', '~> 0.9.2'
+
+  # Testing framework
+  gem.add_development_dependency 'rspec', '~> 2.9.0'
+
+  # Continous integration testing
+  gem.add_development_dependency 'guard', '~> 1.0.1'
+  gem.add_development_dependency 'guard-rspec', '~> 0.7.0'
+
+  # Documentation
+  gem.add_development_dependency 'yard'
+  gem.add_development_dependency 'redcarpet'
 end

data/lib/lego_nxt.rb

@@ -1,3 +1,5 @@
 require "lego_nxt/version"
 
-puts "coming soon..."
+# {LegoNXT} is a library for working with the LEGO NXT bricks.
+module LegoNXT
+end

data/lib/lego_nxt/constants.rb

@@ -0,0 +1,147 @@
+module LegoNXT
+
+  # op-codes for direct commands.
+  #
+  # All commands, when using {REQUIRE_RESPONSE} should
+  # return: `0x02, <op-code>, <status-byte> [, <data-payload>...]`
+  #
+  # The status byte is either 0 for success, or one of the
+  # constants below that end in `_ERROR`.
+  #
+  # For brevity, only the data-payload is documented.
+  #
+  # All strings should be null (`0x00`) terminated.
+  #
+  # See the LEGO MINDSTORMS NXT Bluetooth Developer Kit
+  # Appendix 2 - LEGO MINDSTORMS NXT Direct commands
+  module DirectOps
+    # The first byte sent when sending a direct command
+    # and you expect a response.
+    REQUIRE_RESPONSE                                      = 0x00
+    # The first byte sent when sending a direct command
+    # and you don't want a response.
+    NO_RESPONSE                                           = 0x80
+
+    STARTPROGRAM                                          = 0x00
+    STOPPROGRAM                                           = 0x01
+    PLAYSOUNDFILE                                         = 0x02
+    # Play a tone (beep)
+    #
+    # Arguments:
+    #
+    # 1. 2 bytes (UWORD) - Frequency in Hz (200 - 1400Hz)
+    # 2. 2 bytes (UWORD) - Duration of the tone in ms.
+    PLAYTONE                                              = 0x03
+    SETOUTPUTSTATE                                        = 0x04
+    SETINPUTMODE                                          = 0x05
+    GETOUTPUTSTATE                                        = 0x06
+    GETINPUTVALUES                                        = 0x07
+    RESETINPUTSCALEDVALUE                                 = 0x08
+    MESSAGEWRITE                                          = 0x09
+    RESETMOTORPOSITION                                    = 0x0A
+
+    # Get the battery Level
+    #
+    # Response:
+    #
+    # 1. 2 bytes (UWORD) - Voltage in millivolts.
+    GETBATTERYLEVEL                                       = 0x0B
+    STOPSOUNDPLAYBACK                                     = 0x0C
+    KEEPALIVE                                             = 0x0D
+    LSGETSTATUS                                           = 0x0E
+    LSWRITE                                               = 0x0F
+    LSREAD                                                = 0x10
+    GETCURRENTPROGRAMNAME                                 = 0x11
+    MESSAGEREAD                                           = 0x12
+  end
+
+  # Errors that may be return via the status-byte
+  # for direct commands.
+  module DirectOpsErrors
+    PENDING_COMMUNICATION_TRANSACTION_IN_PROGRESS_ERROR       = 0x20
+    SPECIFIED_MAILBOX_QUEUE_IS_EMPTY_ERROR                    = 0x40
+    REQUEST_FAILED_ERROR                                      = 0xBD
+    UNKNOWN_COMMAND_OPCODE_ERROR                              = 0xBE
+    INSANE_PACKET_ERROR                                       = 0xBF
+    DATA_CONTAINS_OUT_OF_RANGE_VALUES_ERROR                   = 0xC0
+    COMMUNICATION_BUS_ERROR                                   = 0xDD
+    NO_FREE_MEMORY_IN_COMMUNICATION_BUFFER_ERROR              = 0xDE
+    SPECIFIED_CHANNEL_CONNECTION_IS_NOT_VALID_ERROR           = 0xDF
+    SPECIFIED_CHANNEL_CONNECTION_NOT_CONFIGURED_OR_BUSY_ERROR = 0xE0
+    NO_ACTIVE_PROGRAM_ERROR                                   = 0xEC
+    ILLEGAL_SIZE_SPECIFIED_ERROR                              = 0xED
+    ILLEGAL_MAILBOX_QUEUE_ID_SPECIFIED_ERROR                  = 0xEE
+    ATTEMPTED_TO_ACCESS_INVALID_FIELD_OF_A_STRUCTURE_ERROR    = 0xEF
+    BAD_INPUT_OR_OUTPUT_SPECIFIED_ERROR                       = 0xF0
+    INSUFFICIENT_MEMORY_AVAILABLE_ERROR                       = 0xFB
+    BAD_ARGUMENTS_ERROR                                       = 0xFF
+  end
+
+  # op-codes for system commands.
+  #
+  # All commands, when using {REQUIRE_RESPONSE} should
+  # return: `0x02, <op-code>, <status-byte> [, <data-payload>...]`
+  #
+  # The status byte is either 0 for success, or one of the
+  # constants below that end in `_ERROR`.
+  #
+  # For brevity, only the data-payload is documented.
+  #
+  # All strings should be null (`0x00`) terminated.
+  #
+  # See the LEGO MINDSTORMS NXT Bluetooth Developer Kit
+  # Appendix 1 - LEGO MINDSTORMS NXT Communication protocol
+  module SystemOps
+    # The first byte used when sending a system command
+    # and you expect a response.
+    REQUIRE_RESPONSE                                    = 0x01
+    # The first byte used when sending a system command
+    # and you don't want a response.
+    NO_RESPONSE                                         = 0x81
+
+    OPEN_READ_COMMAND                                   = 0x80
+    OPEN_WRITE_COMMAND                                  = 0x81
+    READ_COMMAND                                        = 0x82
+    WRITE_COMMAND                                       = 0x83
+    CLOSE_COMMAND                                       = 0x84
+    DELETE_COMMAND                                      = 0x85
+    FIND_FIRST                                          = 0x86
+    FIND_NEXT                                           = 0x87
+    GET_FIRMWARE_VERSION                                = 0x88
+    OPEN_WRITE_LINEAR_COMMAND                           = 0x89
+    OPEN_READ_LINEAR_COMMAND_INTERNAL                   = 0x8A
+    OPEN_WRITE_DATA_COMMAND                             = 0x8B
+    OPEN_APPEND_DATA_COMMAND                            = 0x8C
+    BOOT_COMMAND                                        = 0x97
+    SET_BRICK_NAME_COMMAND                              = 0x98
+    GET_DEVICE_INFO                                     = 0x9B
+    DELETE_USER_FLASH                                   = 0xA0
+    POLL_COMMAND_LENGTH                                 = 0xA1
+    POLL_COMMAND                                        = 0xA2
+    BLUETOOTH_FACTOR_RESET_COMMAND                      = 0xA4 # Don't send via bluetooth, duh.
+  end
+
+  # Errors that may be return via the status-byte
+  # for system commands.
+  module SystemOpsErrors
+    NO_MORE_HANDLES_ERROR                               = 0x81
+    NO_SPACE_ERROR                                      = 0x82
+    NO_MORE_FILES_ERROR                                 = 0x83
+    END_OF_FILE_EXPECTED_ERROR                          = 0x84
+    END_OF_FILE_ERROR                                   = 0x85
+    NOT_A_LINEAR_FILE_ERROR                             = 0x86
+    FILE_NOT_FOUND_ERROR                                = 0x87
+    HANDLE_ALL_READY_CLOSED_ERROR                       = 0x88
+    NO_LINEAR_SPACE_ERROR                               = 0x89
+    UNDEFINED_ERROR                                     = 0x8A
+    FILE_IS_BUSY_ERROR                                  = 0x8B
+    NO_WRITE_BUFFERS_ERROR                              = 0x8C
+    APPEND_NOT_POSSIBLE_ERROR                           = 0x8D
+    FILE_IS_FULL_ERROR                                  = 0x8E
+    FILE_EXISTS_ERROR                                   = 0x8F
+    MODULE_NOT_FOUND_ERROR                              = 0x90
+    OUT_OF_BOUNDARY_ERROR                               = 0x91
+    ILLEGAL_FILE_NAME_ERROR                             = 0x92
+    ILLEGAL_HANDLE_ERROR                                = 0x93
+  end
+end

data/lib/lego_nxt/errors.rb

@@ -0,0 +1,14 @@
+module LegoNXT
+  # All LegoNXT errors are subclassed from this
+  # error class.
+  class LegoNXTError < StandardError
+  end
+
+  # No NXT bricks were found.
+  class NoDeviceError < LegoNXTError
+  end
+
+  # The transmit failed for some reason
+  class TransmitError < LegoNXTError
+  end
+end

data/lib/lego_nxt/usb_connection.rb

@@ -0,0 +1,99 @@
+require 'libusb'
+require 'lego_nxt/errors'
+
+module LegoNXT
+
+  # Low-level connection object for communicating with the NXT brick
+  # via USB.
+  #
+  # It's interface is very simple and mainly deals with bytes `pack`ed
+  # into `String`s.
+  #
+  # Example of packing:
+  #
+  #     [ 0x80, 0x03].pack('C*')
+  #
+  # Example of unpacking
+  #
+  #     bytestring.unpack('C*')
+  #
+  # WARNING: This class is *not* threadsafe. To use it in a threaded environment
+  # you need to synchonize access to it.
+  class UsbConnection
+    # The USB idVendor code
+    LEGO_VENDOR_ID = 0x0694
+    # The USB idProduct code
+    NXT_PRODUCT_ID = 0x0002
+
+    # The USB endpoint (communication channel) to send data out to the NXT brick
+    USB_ENDPOINT_OUT = 0x01
+
+    # The USB endpoint (communication channel) to receive data from the NXT brick
+    USB_ENDPOINT_IN  = 0x82
+
+    # Creates a connection to the NXT brick.
+    #
+    def initialize
+      open
+    end
+
+    # Sends a packed string of bits.
+    #
+    # Example:
+    #
+    #     # Causes the brick to beep
+    #     conn.transmit [0x80, 0x03, 0xf4, 0x01, 0xf4, 0x01].pack('C*')'
+    #
+    # @see The LEGO MINDSTORMS NXT Communications Protocol (Appendex 1 of the Bluetooth Development Kit)
+    #
+    # @param {String} bits This must be a binary string. Use `Array#pack('C*')` to generate the string.
+    # @return [Boolean] Returns true if all the data was sent and received by the NXT.
+    def transmit bits
+      bytes_sent = @handle.bulk_transfer dataOut: bits, endpoint: USB_ENDPOINT_OUT
+      bytes_sent == bits.length
+    end
+
+    # Sends a packet string of bits and then receives a result.
+    #
+    # Example:
+    #
+    #     # Causes the brick to beep
+    #     conn.transceive [0x80, 0x03, 0xf4, 0x01, 0xf4, 0x01].pack('C*')'
+    #
+    # @see The LEGO MINDSTORMS NXT Communications Protocol (Appendex 1 of the Bluetooth Development Kit)
+    #
+    # @param {String} bits This must be a binary string. Use `Array#pack('C*')` to generate the string.
+    # @raise {LegoNXT::TransmitError} Raised if the {#transmit} fails.
+    # @return [String] A packed string of the response bits. Use `String#unpack('C*')`.
+    def transceive bits
+      raise TransmitError unless transmit bits
+      bytes_received = @handle.bulk_transfer dataIn: 64, endpoint: USB_ENDPOINT_IN
+      return bytes_received
+    end
+
+    # Closes the connection
+    #
+    # @return [nil]
+    def close
+      return if @handle.nil?
+      @handle.close
+      @handle = nil
+    end
+
+
+    private
+
+    # Opens the connection
+    #
+    # This is triggered automatically by intantiating the object.
+    #
+    # @return [nil]
+    def open
+      context = LIBUSB::Context.new
+      device = context.devices(:idVendor => LEGO_VENDOR_ID, :idProduct => NXT_PRODUCT_ID).first
+      raise NoDeviceError.new("Please make sure the device is plugged in and powered on") if device.nil?
+      @handle = device.open
+      @handle.claim_interface(0)
+    end
+  end
+end

data/lib/lego_nxt/version.rb

@@ -1,3 +1,4 @@
-module LegoNxt
-  VERSION = "0.0.1"
+module LegoNXT
+  # The version of the LegoNXT code
+  VERSION = "0.0.2"
 end

data/spec/lib/lego_nxt/usb_connection_spec.rb

@@ -0,0 +1,98 @@
+require 'spec_helper'
+require 'lego_nxt/usb_connection'
+require 'lego_nxt/constants'
+
+describe LegoNXT::UsbConnection do
+  subject { LegoNXT::UsbConnection.new }
+  after(:each) { HAS_NXT and subject.close }
+
+  describe "#new" do
+    it "does something" do
+      needs_nxt do
+        LegoNXT::UsbConnection.new.close
+      end
+    end
+
+    it "works twice" do
+      needs_nxt do
+        LegoNXT::UsbConnection.new.close
+        LegoNXT::UsbConnection.new.close
+      end
+    end
+  end
+
+  describe ".transmit" do
+    it "should beep" do
+      needs_nxt do
+        ops = [LegoNXT::DirectOps::NO_RESPONSE,
+               LegoNXT::DirectOps::PLAYTONE,
+               500,
+               500].pack('CCvv')
+        subject.transmit ops
+        sleep 0.5
+      end
+    end
+
+    it "return success" do
+      needs_nxt do
+        ops = [LegoNXT::DirectOps::NO_RESPONSE,
+               LegoNXT::DirectOps::PLAYTONE,
+               700,
+               500].pack('CCvv')
+        subject.transmit(ops).should be_true
+        sleep 0.5
+      end
+    end
+  end
+
+  describe ".transceive" do
+    context "with a successful transmit" do
+      let (:ops) do
+        [LegoNXT::SystemOps::REQUIRE_RESPONSE,
+         LegoNXT::SystemOps::GET_FIRMWARE_VERSION].pack 'CC'
+      end
+      let (:retval) { subject.transceive(ops).unpack('C*') }
+      it "should return 7 bytes" do
+        needs_nxt do
+          retval.should have(7).items
+        end
+      end
+
+      it "should return the response bits" do
+        needs_nxt do
+          retval[0].should == 0x02
+          retval[1].should == 0x88
+        end
+      end
+
+      it "should be successful" do
+        needs_nxt do
+          retval[2].should == 0x0
+        end
+      end
+    end
+
+    context "with an unsuccessful transmit" do
+      it "should raise TransmitError" do
+        LegoNXT::UsbConnection.any_instance.stub(:open)
+        subject.stub(:transmit) { false }
+        expect { subject.transceive(double) }.to raise_error(LegoNXT::TransmitError)
+      end
+    end
+  end
+
+  describe ".close" do
+    it "does something" do
+      needs_nxt do
+        subject.close
+      end
+    end
+
+    it "can be called twice with no ill effects" do
+      needs_nxt do
+        subject.close
+        subject.close
+      end
+    end
+  end
+end

data/spec/spec_helper.rb

@@ -0,0 +1,15 @@
+HAS_NXT = ENV['HAS_NXT'] == 'true'
+
+if not HAS_NXT
+  puts "**NOTE** Some tests are marked pending because you did not indicate you have a NXT brick."
+  puts "         To run all tests, plugin a NXN brick via USB, power it on, and set"
+  puts "         the environment variable 'HAS_NXT' to 'true'."
+end
+
+def needs_nxt &block
+  if HAS_NXT
+    yield
+  else
+    pending "This requires a NXT brick"
+  end
+end

metadata

@@ -1,32 +1,120 @@
 --- !ruby/object:Gem::Specification
 name: lego_nxt
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.0.2
   prerelease: 
 platform: ruby
 authors:
+- Christian Höltje
 - Steve Klabnik
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-04-06 00:00:00.000000000 Z
-dependencies: []
-description: A gem to interface with LEGO NXT robotics.
+date: 2012-04-13 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: libusb
+  requirement: &70097839321340 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.1.3
+  type: :runtime
+  prerelease: false
+  version_requirements: *70097839321340
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: &70097839300880 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.9.2
+  type: :development
+  prerelease: false
+  version_requirements: *70097839300880
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: &70097839298840 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 2.9.0
+  type: :development
+  prerelease: false
+  version_requirements: *70097839298840
+- !ruby/object:Gem::Dependency
+  name: guard
+  requirement: &70097839296420 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.1
+  type: :development
+  prerelease: false
+  version_requirements: *70097839296420
+- !ruby/object:Gem::Dependency
+  name: guard-rspec
+  requirement: &70097839293320 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.7.0
+  type: :development
+  prerelease: false
+  version_requirements: *70097839293320
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: &70097839292400 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *70097839292400
+- !ruby/object:Gem::Dependency
+  name: redcarpet
+  requirement: &70097839290720 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *70097839290720
+description: A gem to interface with LEGO MINDSTORMS NXT bricks.
 email:
+- docwhat@gerf.org
 - steve@steveklabnik.com
 executables: []
 extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
+- .rspec
+- .travis.yml
+- .yardopts
 - Gemfile
+- Guardfile
 - LICENSE
 - README.md
 - Rakefile
 - lego_nxt.gemspec
 - lib/lego_nxt.rb
+- lib/lego_nxt/constants.rb
+- lib/lego_nxt/errors.rb
+- lib/lego_nxt/usb_connection.rb
 - lib/lego_nxt/version.rb
-homepage: http://github.com/jumpstartlab/lego_nxt
+- spec/lib/lego_nxt/usb_connection_spec.rb
+- spec/spec_helper.rb
+homepage: http://github.com/docwhat/lego_nxt
 licenses: []
 post_install_message: 
 rdoc_options: []
@@ -35,19 +123,25 @@ require_paths:
 required_ruby_version: !ruby/object:Gem::Requirement
   none: false
   requirements:
-  - - ! '>='
+  - - ~>
     - !ruby/object:Gem::Version
-      version: '0'
+      version: 1.9.2
 required_rubygems_version: !ruby/object:Gem::Requirement
   none: false
   requirements:
   - - ! '>='
     - !ruby/object:Gem::Version
       version: '0'
+      segments:
+      - 0
+      hash: 400650911654824634
 requirements: []
 rubyforge_project: 
-rubygems_version: 1.8.16
+rubygems_version: 1.8.17
 signing_key: 
 specification_version: 3
-summary: A gem to interface with LEGO NXT robotics.
-test_files: []
+summary: A gem to interface with LEGO MINDSTORMS NXT bricks.
+test_files:
+- spec/lib/lego_nxt/usb_connection_spec.rb
+- spec/spec_helper.rb
+has_rdoc: