geoffyoungs · January 4, 2011 17:53 · Sep 21, 2011 · Sep 21, 2011 · Sep 21, 2011 · Jan 4, 2011
diff --git a/stuts-car.rb b/stuts-car.rb
@@ -77,7 +77,7 @@ def msg(byte)
   car = StutsCar.new(h)
 
   car.set_config(1)
-  #car.read_descriptor
+
   car.class_request_out
 
 #  car.forward

diff --git a/stuts-car.rb b/stuts-car.rb
@@ -102,6 +102,4 @@ def msg(byte)
   end
 
   car.handle.usb_release_interface(0)
-#  car.handle.usb_close
-
 end
diff --git a/stuts-car.rb b/stuts-car.rb
@@ -5,13 +5,10 @@ class StutsCar
 	attr_reader :handle
 	def initialize(handle)
 		@handle = handle
-		p @handle.public_methods(false)
-		p @handle.usb_detach_kernel_driver_np(0, 0) rescue nil
-		p @handle.usb_claim_interface(0) rescue nil 
-		p @handle.usb_claim_interface(0) rescue nil
-		#@handle.usb_set_configuration(0)
-
-		#@handle.detach_kernel_driver_np(1)
+		@handle.public_methods(false)
+		@handle.usb_detach_kernel_driver_np(0, 0) rescue nil
+		@handle.usb_claim_interface(0) rescue nil 
+		@handle.usb_claim_interface(0) rescue nil
 	end
 	def forward
 		msg(0x01)
@@ -35,23 +32,20 @@ def stop
 		msg(0)
 	end
 	def set_config(num)
-		p [:config, @handle.usb_control_msg(0, 9, num, 0, "", 0)]
+		@handle.usb_control_msg(0, 9, num, 0, "", 0)
 	end
 	def read_descriptor
 		buf = ("\0"*4)
-		p [:read_descriptor, @handle.usb_control_msg(0x81, 0x6, 0x2200, 0, buf, 0)]
-		#io = IO.popen('hex -', 'w')
-		#io.write(buf)
-		p buf
+		@handle.usb_control_msg(0x81, 0x6, 0x2200, 0, buf, 0)
 	end
 
 	def class_request_out
-		p [:class_request_out, @handle.usb_control_msg(0x21, 0xA, 0, 0, "", 0)]
+		@handle.usb_control_msg(0x21, 0xA, 0, 0, "", 0)
 	end
 	private 
 	def msg(byte)
 		b = '' << byte
-		p [:msg, @handle.usb_control_msg(0x21, 9, 0x0200, 0, b, 0)]
+		@handle.usb_control_msg(0x21, 9, 0x0200, 0, b, 0)
 	end
 end
 

diff --git a/stuts-car → stuts-car.rb b/stuts-car → stuts-car.rb
diff --git a/stuts-car b/stuts-car
@@ -0,0 +1,113 @@
+require 'usb'
+require 'pp'
+
+class StutsCar
+	attr_reader :handle
+	def initialize(handle)
+		@handle = handle
+		p @handle.public_methods(false)
+		p @handle.usb_detach_kernel_driver_np(0, 0) rescue nil
+		p @handle.usb_claim_interface(0) rescue nil 
+		p @handle.usb_claim_interface(0) rescue nil
+		#@handle.usb_set_configuration(0)
+
+		#@handle.detach_kernel_driver_np(1)
+	end
+	def forward
+		msg(0x01)
+	end
+	def reverse
+		msg 0x8
+	end
+	def forward_and_right
+		msg(0x2)
+	end
+	def forward_and_left
+		msg 0x20
+	end
+	def reverse_and_left
+		msg 0x10
+	end
+	def reverse_and_right
+		msg 0x04
+	end
+	def stop
+		msg(0)
+	end
+	def set_config(num)
+		p [:config, @handle.usb_control_msg(0, 9, num, 0, "", 0)]
+	end
+	def read_descriptor
+		buf = ("\0"*4)
+		p [:read_descriptor, @handle.usb_control_msg(0x81, 0x6, 0x2200, 0, buf, 0)]
+		#io = IO.popen('hex -', 'w')
+		#io.write(buf)
+		p buf
+	end
+
+	def class_request_out
+		p [:class_request_out, @handle.usb_control_msg(0x21, 0xA, 0, 0, "", 0)]
+	end
+	private 
+	def msg(byte)
+		b = '' << byte
+		p [:msg, @handle.usb_control_msg(0x21, 9, 0x0200, 0, b, 0)]
+	end
+end
+
+
+bus = nil
+device = nil
+
+USB.devices.each do |dev|
+ begin
+   if '0a81' == ("%04x" % dev.idVendor) &&
+      '0702' == ("%04x" % dev.idProduct)
+      bus = dev.bus.dirname
+      device = dev.filename
+   end
+ rescue
+ end
+end
+
+dev = nil
+
+if bus.nil? && device.nil?
+  exit -1
+else
+  dev = USB.find_bus(bus.to_i).find_device(device.to_i)
+end
+
+dev.open do |h|
+
+  car = StutsCar.new(h)
+
+  car.set_config(1)
+  #car.read_descriptor
+  car.class_request_out
+
+#  car.forward
+#  sleep 0.5
+#  car.stop
+#  sleep 0.5
+#  car.reverse
+#  car.reverse_and_right
+#  sleep 0.1
+#  car.reverse
+#  sleep 0.7
+#  car.stop
+  5.times do
+  car.forward_and_right
+  sleep 0.2
+  car.stop
+  sleep 0.2
+  car.reverse_and_left
+  sleep 0.2
+  car.stop
+  sleep 0.2
+  end
+
+  car.handle.usb_release_interface(0)
+#  car.handle.usb_close
+
+end