# Don't use device before ipcon is connected
# Configure two servos with voltage 5.5V
# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
# and operating angle -100 to 100°
#
# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
# to 1.95ms and operating angle -90 to 90°
servo.set_output_voltage(5500)
servo.set_degree(0, -10000, 10000)
servo.set_pulse_width(0, 1000, 2000)
servo.set_period(0, 19500)
servo.set_acceleration(0, 1000) # Slow acceleration
servo.set_velocity(0, 0xFFFF) # Full speed
servo.set_degree(5, -9000, 9000)
servo.set_pulse_width(5, 950, 1950)
servo.set_period(5, 20000)
servo.set_acceleration(5, 0xFFFF) # Full acceleration
servo.set_velocity(5, 0xFFFF) # Full speed
servo.set_position(0, 10000) # Set to most right position
servo.enable(0)
servo.set_position(5, -9000) # Set to most left position
servo.enable(5)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
# Use position reached callback to swing back and forth
def cb_reached(servo_num, position):
if position == 9000:
print('Position: 90°, going to -90°')
servo.set_position(servo_num, -9000)
elif position == -9000:
print('Position: -90°, going to 90°')
servo.set_position(servo_num, 9000)
else:
print('Error') # Can only happen if another program sets position
if __name__ == "__main__":
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register "position reached callback" to cb_reached
# cb_reached will be called every time a position set with
# set_position is reached
servo.register_callback(servo.CALLBACK_POSITION_REACHED, cb_reached)
# Set velocity to 100°/s. This has to be smaller or equal to
# maximum velocity of the servo, otherwise cb_reached will be
# called too early
servo.set_velocity(0, 10000)
servo.set_position(0, 9000)
servo.enable(0)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
servo = Servo(SERVOUID) # Create device object
ipcon.add_device(servo) # Add device to IP connection
# Don't use device before it is added to a connection
servo.set_degree(motor, -9000, 9000)
servo.set_pulse_width(motor, 950, 1950)
servo.set_period(motor, 20000)
servo.set_acceleration(motor, 7000)
servo.set_velocity(motor, 0xFFFF) # Full speed
servo.set_degree(steeringsrv, -3600, 3600)
servo.set_pulse_width(steeringsrv, 955, 2000)
servo.set_period(steeringsrv, 20000)
servo.set_acceleration(steeringsrv, 7000) # Full acceleration 0xFFFF
servo.set_velocity(steeringsrv, 0xFFFF) # Full speed
servo.set_position(motor, stop)
servo.set_position(steeringsrv, mid)
servo.enable(motor)
servo.enable(steeringsrv)
# Set Period for coordinates callback to 1s (1000ms)
# Note: The callback is only called every second if the
# coordinates have changed since the last call!
gps.set_coordinates_callback_period(500)
gps.set_status_callback_period(50)
# Register current callback to function cb_current
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
gps.register_callback(gps.CALLBACK_STATUS, cb_status)
