def moveServo(self): if self.rotation == "clockwise": self.position += self.index if self.position <= s.ubAngle: print("current position: ", self.position) else: self.rotation = "counterClockwise" self.position = s.ubAngle else: if self.position >= s.lbAngle: self.position -= self.index print("current position: ", self.position) Servo.baseServo(s.baseservoPin, self.position)
def moveBaseServo(self): rotation = "clockwise" index = 80 position = s.lbAngle while (True): if rotation == "clockwise": print("Arm position: ", position) Servo.baseServo(s.baseservoPin, position) time.sleep(2) position += index if position > s.ubAngle: rotation = "anti-clockwise" position = s.ubAngle else: print("Arm position: ", position) Servo.baseServo(s.baseservoPin, position) time.sleep(2) position -= index if position < s.lbAngle: break
def openGripper(self): Servo.baseServo(s.gripperPin, s.openGripper) time.sleep(1)
def adjustHeight(self): Servo.baseServo(s.thirdServoPin, s.heightAngle) time.sleep(2)
def closeGripper(self): Servo.baseServo(s.gripperPin, s.closeGripper) print("Gripper closed.") time.sleep(2)
def openGripper(self): Servo.baseServo(s.gripperPin, s.openGripper) print("Gripper Opened!!") time.sleep(2)
def openGripper(self): #open the gripper wide Servo.baseServo(s.gripperPin, s.openGripper) time.sleep(1)