def GPIO_arm(pwm_arm):
for pin in pwm_arm:
GPIO.setup(pin, GPIO.OUT)
GPIO.PWM(pin, 60)
def GPIO_grip(pwm_grip):
for pin in pwm_grip:
GPIO.setup(pin, GPIO.OUT)
GPIO.PWM(pin, 60)
# Setup Adafruit PWM Hat
pwm = Adafruit_PCA9685.PCA_9685()
pwm.set_freq(60)
logging.debug("Adafruit PWM freq set to 60")
# Positioning functions
def calc_servo_angles(target_vector):
logging.debug("Desired gripper position vector: %s", target_vector)
servo_angles = lunar_chain.inverse_kinematics(target_vector)
logging.debug("Calculated servo angles: %s", servo_angles)
return servo_angles
def calc_dc(dc_min, dc_max, angle):
dc_range = dc_max - dc_min
inter = dc_range * angle / 180
