Dream Cheeky Mini RC Control from linux

stuts-car.rb

require 'usb'
require 'pp'

class StutsCar
	attr_reader :handle
	def initialize(handle)
		@handle = handle
		@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)
	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)
		@handle.usb_control_msg(0, 9, num, 0, "", 0)
	end
	def read_descriptor
		buf = ("\0"*4)
		@handle.usb_control_msg(0x81, 0x6, 0x2200, 0, buf, 0)
	end

	def class_request_out
		@handle.usb_control_msg(0x21, 0xA, 0, 0, "", 0)
	end
	private 
	def msg(byte)
		b = '' << byte
		@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.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)
end