The USB_ROBOTIC_ARM is a proof-of-concept driver for the OWI/Maplin USB
Robotic Arm. I created it for fun. So, don't expect much from it.
INSTALLATION:
Select the 'USB ROBOTIC ARM' and build the kernel.
If we build it as module, locate the robotic_arm.ko
As 'root', insert the module:
# insmod robotic_arm.ko
# dmesg
[ 8808.461441] usbcore: registered new interface driver robotic_arm
Connect the Robotic Arm to the PC.
# dmesg
...
[ 8718.729311] robotic_arm 5-1:1.0: USB ROBOTIC ARM now attached
# cd /sys/bus/usb/drivers/robotic_arm/
In my case,
# ls
5-1:1.0 bind module new_id remove_id uevent unbind
# cd 5-1:1.0
# ls
bAlternateSetting bInterfaceNumber bNumEndpoints gripmotor motor2 power uevent
basemotor bInterfaceProtocol driver led motor3 subsystem
bInterfaceClass bInterfaceSubClass ep_81 modalias motor4 supports_autosuspend
Modifications by jbh (john.hanson@cccplusplus.co.uk)
- Device context now held in cmd buffer
- Allow multiple motors at the same time
- Add parsed file which allows a single file to control the robot
characters 0..8 select the device to control
character S=stop, F=forward, R=reverse, E=emergency (stop all motors)
eg echo "0F" >parsed causes the gripper to close
HARDWARE AVAILABILITY:
OWI/Maplin USB Robotic arm is available from:
http://www.maplin.co.uk/robotic-arm-kit-with-usb-pc-interface-266257
http://www.owirobots.com/cart/html/owi-535pc-robotic-arm-kit-with-usb-pc-interface-assembled.html
REFERENCES:
Reverse Engineering details of Robotic Arm's Protocol is available here:
http://notbrainsurgery.livejournal.com/38622.html