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A Linux kernel driver for the Maplin USB Robotic Arm
- Device context now held in cmd buffer - Allow multiple motors at the same time Thanks to John Hanson for these improvements.
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 (email@example.com) - 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