lego nxt sample script

move_robot.txt

$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.