Created
April 20, 2012 20:05
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lego nxt sample script
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| $LOAD_PATH.unshift('./lib').uniq! | |
| require 'lego_nxt/usb_connection' | |
| require 'lego_nxt/constants' | |
| @subject = LegoNXT::UsbConnection.new | |
| ops = [LegoNXT::DirectOps::NO_RESPONSE, | |
| LegoNXT::DirectOps::PLAYTONE, | |
| 500, | |
| 500].pack('CCvv') | |
| @subject.transmit(ops) | |
| @subject.close | |
| @subject = LegoNXT::UsbConnection.new | |
| motor_activate = [LegoNXT::DirectOps::NO_RESPONSE, | |
| LegoNXT::DirectOps::SETOUTPUTSTATE, | |
| 0xFF, # output port | |
| 100, # power set point | |
| 0x01, # mode; 0x01 => Motor On | |
| 0x00, # Regulation Mode | |
| 0, # Turn Ratio (-100 - 100) | |
| 0x20, # Run State? - Idle/Ramp-up/Running/Ramp-down | |
| 1000].pack('C*') # TachoLimit (run time?) | |
| puts motor_activate.inspect | |
| @subject.transmit(motor_activate) | |
| @subject.close | |
| sleep 0.5 | |
| @subject = LegoNXT::UsbConnection.new | |
| motor_activate = [LegoNXT::DirectOps::NO_RESPONSE, | |
| LegoNXT::DirectOps::SETOUTPUTSTATE, | |
| 0xFF, # output port | |
| -100, # power set point | |
| 0x01, # mode; 0x01 => Motor On | |
| 0x00, # Regulation Mode | |
| 0x00, # Turn Ratio (-100 - 100) | |
| 0x20, # Run State? - Idle/Ramp-up/Running/Ramp-down | |
| 1000].pack('C*') # TachoLimit (run time?) | |
| puts motor_activate.inspect | |
| @subject.transmit(motor_activate) | |
| @subject.close | |
| sleep 0.5 |
I'm inside you.
What an amazing gist.
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