def __init__(self,servoIndexes=None): servo.init() #Open Port and Set Baud Rate self.Legs = [Leg(),Leg(),Leg(),Leg()] if servoIndexes!=None: self.setID(servoIndexes) self.DEFAULT_X = 5 self.DEFAULT_Z = -15 self.Y_MAX = 9 self.Y_MIN = -0.5 self.Y_MEAN = (self.Y_MIN+self.Y_MAX)/2 self.totalShiftSize = (self.Y_MAX-self.Y_MEAN) self.stanceIncrements = 0.5 # Delays self.shiftAllInterDelay = 0.1
import smartServo as sServo import constants as k if __name__ == "__main__": sServo.init() servoList = [] for i in range(0, 16): servo = sServo.SmartServo(ID=k.servoId[i], dirVector=k.dirVector[i], fixedPoint=k.FixedPoints[i], enableTorque=True) servoList.append(servo) while True: print("Enter the Target Servo Index:", end=" ") index = int(input()) print("Enter the Angle:", end=" ") angle = int(input()) servoList[index].writeAngle(angle)
import smartServo as servo if __name__ == '__main__': # Open port print("Opening Port!") if servo.init(): #take Id for the Servos as Input Id = int(input("Enter The Bot ID(Enter -1 to Quit):")) print("Enabling Torque on the Servo Id [%d]", Id) servo.enable(Id) while True: exAngle = int(input("Enter the Servo Angle(0-1023)")) servo.setSpeed(Id, 200) servo.writeRawAngle(Id, exAngle) print( "------------------------------------------------------------------" ) print("\n[+] Disabling")