Skip to content

Latest commit

 

History

History
78 lines (62 loc) · 2.28 KB

README.md

File metadata and controls

78 lines (62 loc) · 2.28 KB
Raw

KSR10 Robotic Arm Linux C++ Driver

This is a (very) small library that allows you to control a KSR10 with C++.

Note : every commands of the demonstration program (in the file main.cpp) are designed for a "XBox 360 controller" joystick. You can of course change them in the main.cpp file for your own joystick.
Other note : The joystick library was found here.

How to compile it ?

Type these commands in a console :
sudo apt-get install libusb-1.0-0-dev
git clone https://github.com/paly2/ksr10-linux-driver
cd ksr10-linux-driver
make
sudo ./ksr10 # To run the program.
You can now control the KSR10 with your joystick.

You can also just copy the robotic_arm.h and robotic_arm.cpp files in your own program (see Driver API part).

Use the XBox joystick

This picture represents the layout of the XBox 360 Controller (found here ) :

XBox controller

If you use this joystick to control the KSR10, commands are :

  • Left stick up : shoulder down
  • Left stick down : shoulder up
  • Left stick right : base left
  • Left stick left : base right
  • Right stick up : elbow down
  • Right stick down : elbow up
  • Right stick right : wrist up
  • Right stick left : wrist down
  • Left trigger pressed : grip close
  • Right trigger pressed : grip open
  • Left bumper : light on/off
  • Right bumper : exit the program

Driver API

First, create an instance of ksr10 :
ksr10 robotic_arm;

Then, you can send a control to the KSR10 with :
robotic_arm.ctrl(command cmd, status new_status);

Available commands are :

  • SHOULDER
  • ELBOW
  • WRIST
  • GRIP
  • BASE
  • LED

And avaible status are :

  • STOP
  • RUN1
  • RUN2
    Note : you can't use the RUN2 status for the LED.

Example :
#include <unistd.h>
#include "robotic_arm.h"
int main() {
ksr10 robotic_arm;
robotic_arm.ctrl(LED, RUN1);
robotic_arm.ctrl(ELBOW, RUN1);
sleep(1);
robotic_arm.ctrl(ELBOW, STOP);
robotic_arm.ctrl(LED, STOP);
robotic_arm.ctrl(ELBOW, RUN2);
sleep(1);
robotic_arm.ctrl(ELBOW, STOP);
return 0;
}

Important note : at the end of the program, stop all the parts you put in operation.