ipcon.connect(HOST, PORT) # Connect to brickd
# 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
if __name__ == "__main__":
enable = False
ipcon = IPConnection(HOST, PORT) # Create ip connection to brickd
gps = GPS(GPSUID) # Create device object
ipcon.add_device(gps) # Add device to ip connection
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)
