robotic-arm 0.1.0

data/lib/robotic-arm.rb

@@ -0,0 +1,207 @@
+#!/usr/bin/env ruby
+
+# file: robotic-arm.rb
+
+require 'libusb'
+
+
+OFF = 0x00
+
+class RoboticArm
+
+  attr_reader :led, :wrist, :elbow, :shoulder, :base, :grip
+
+  class Component
+
+    def initialize(robot_arm)  @ra = robot_arm  end
+    def active?()  @active                      end
+    
+    protected
+
+    def activate(switch, val, seconds)  
+      @active = val >= 0
+      @prev_val = val 
+      @ra.command(switch, val)
+      if seconds > 0 then
+        sleep seconds  
+        @ra.command(switch, -(val))
+        @active = false
+      end
+    end
+  end
+
+  class Led             < Component
+
+    def initialize(robot_arm)  
+
+      super(robot_arm)
+      @switch = 2 
+    end
+
+    def on(seconds=0)
+      activate(@switch, 0x01, seconds) unless on?
+    end
+
+    def off(seconds=0)  
+      activate(@switch, -0x01, seconds) if on?
+    end
+
+    alias on? active?
+  end
+
+  class ComponentMoving < Component
+
+    def initialize(robot_arm)  
+      super(robot_arm)
+      @switch, @val = 0, OFF  
+    end
+
+    def activate(switch, val, seconds=0)  
+      if active? then
+        @val = @prev_val
+        stop
+      end
+      super(switch, val, seconds)
+    end
+
+    def stop()
+      if moving? then
+        @active = false
+        activate(@switch, -(@prev_val))
+      end 
+    end
+
+    alias moving? active?
+
+  end
+
+  class ComponentUpDown < ComponentMoving
+
+    def up(seconds=0)
+      activate(@switch, @upval,seconds)
+    end
+
+    def down(seconds=0)
+      activate(@switch, @downval, seconds)
+    end
+  end
+
+  class Shoulder < ComponentUpDown
+
+    def initialize(robot_arm)
+      super(robot_arm)
+      @upval, @downval = 0x40, 0x80
+    end
+  end
+
+  class Elbow    < ComponentUpDown
+
+    def initialize(robot_arm)
+      super(robot_arm)
+      @upval, @downval = 0x10, 0x20
+    end
+  end
+
+  class Wrist    < ComponentUpDown
+
+    def initialize(robot_arm)
+      super(robot_arm)
+      @upval, @downval = 0x04, 0x08
+    end
+  end
+
+  class Base     < ComponentMoving
+
+    def initialize(robot_arm)
+      super(robot_arm)
+      @switch = 1     
+    end
+
+    def left(seconds=0)  
+      activate(@switch, @val=0x02, seconds)
+    end
+
+    def right(seconds=0)
+      activate(@switch, @val=0x01, seconds)
+    end
+  end
+
+  class Grip     < ComponentMoving
+
+    def open(seconds=0)
+      activate(@switch, @val=0x02, seconds)
+    end
+
+    def close(seconds=0)
+      activate(@switch, @val=0x01, seconds)
+    end
+  end
+
+
+  def initialize()
+
+    # Get the device object
+    usb = LIBUSB::Context.new
+    arm = usb.devices(:idVendor => 0x1267, :idProduct => 0x0000).first
+
+    if arm == nil
+      puts "Arm not found!"
+      exit
+    end
+
+    # Take control of the device
+    @handle = arm.open
+    @handle.claim_interface(0)
+
+    @led      = Led.new      self 
+    @wrist    = Wrist.new    self
+    @elbow    = Elbow.new    self
+    @shoulder = Shoulder.new self
+    @base     = Base.new     self
+    @grip     = Grip.new     self
+    @register = [OFF,OFF,OFF]
+  end  
+
+  def left(seconds=0)  @base.left  seconds  end
+  def right(seconds=0) @base.right seconds  end
+
+  # register and invoke the robotic action
+  #
+  def command(switch, val)
+
+    @register[switch] += val
+    handle_command
+  end
+
+  # Send the signal 
+  #
+  def handle_command()
+
+    @handle.control_transfer(:bmRequestType => 0x40, :bRequest => 6, \
+      :wValue => 0x100, :wIndex => 0, :dataOut => @register.pack('CCC'), \
+      :timeout => 1000)
+  end
+
+  # turn off all active signals
+  #
+  def off()    
+    @register= [OFF,OFF,OFF]
+    handle_command
+    @handle.release_interface(0)
+  end
+
+  # stop all robotic movement
+  #
+  def stop()    
+    @register[0] = OFF
+    @register[1] = OFF
+    handle_command
+  end
+
+end
+
+if __FILE__ == $0 then
+  ra = RoboticArm.new
+  ra.led.on 1
+end
+

metadata

@@ -0,0 +1,64 @@
+--- !ruby/object:Gem::Specification 
+name: robotic-arm
+version: !ruby/object:Gem::Version 
+  prerelease: 
+  version: 0.1.0
+platform: ruby
+authors: 
+- James Robertson
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2012-12-18 00:00:00 Z
+dependencies: 
+- !ruby/object:Gem::Dependency 
+  name: libusb
+  prerelease: false
+  requirement: &id001 !ruby/object:Gem::Requirement 
+    none: false
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        version: "0"
+  type: :runtime
+  version_requirements: *id001
+description: 
+email: 
+executables: []
+
+extensions: []
+
+extra_rdoc_files: []
+
+files: 
+- lib/robotic-arm.rb
+homepage: 
+licenses: []
+
+post_install_message: 
+rdoc_options: []
+
+require_paths: 
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+requirements: []
+
+rubyforge_project: 
+rubygems_version: 1.8.23
+signing_key: 
+specification_version: 3
+summary: robotic-arm
+test_files: []
+