def servodriver(self, ssctime, leg, turret, gun, serial):
cmd = ''
# leg Servos
for legIndex in xrange(4):
cmd = cmd + leg[legIndex].moveleg(leg[legIndex].coxaangle, leg[legIndex].tibiaangle, leg[legIndex].femurangle)
# turret Servos
cmd = cmd + turret.moveturret(turret.panangle, turret.tiltangle)
# gun
cmd = cmd + gun.command()
#print cmd
# Send the servo commands
serial.sendcommand(cmd + 'T' + str(ssctime))
def sit(self, ssctime, leg, turret, gun, serial):
cmd = ''
# leg Servos
cmd = cmd + leg[0].moveleg(45, 15, 0)
cmd = cmd + leg[1].moveleg(45, 15, 0)
cmd = cmd + leg[2].moveleg(-45, 15, 0)
cmd = cmd + leg[3].moveleg(-45, 15, 0)
# turret Servos
cmd = cmd + turret.moveturret(0, 0)
# gun
gun.stop()
cmd = cmd + gun.command()
#print cmd
# Send the servo commands
serial.sendcommand(cmd + 'T' + str(ssctime))
