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 ) :

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.