def __init__(self):
self.kit = adafruit_servokit.ServoKit(channels=16)
self.camera_range = [115, 30] # maps to [0 45]
self.joint1_range = [180, 0] # maps to [-90 90]
self.joint2_range = [0, 170] # maps to [-90 90]
self.joint3_range = [0, 180] # maps to [-90 90]
self.gripper_range = [50, 0] # maps to [0, 1.5] in
def __init__(self): self.kit = adafruit_servokit.ServoKit(channels=16)
def __init__(self, num_ports):
print("Initializing the servo...")
self.kit = adafruit_servokit.ServoKit(channels=16)
self.num_ports = num_ports
self.resetAll()
print("Initializing complete.")
def main():
print("Ready")
kit = adafruit_servokit.ServoKit(channels=16)
servo_pin = 13
servo_sweep(kit, servo_pin)
servo_angle(kit, servo_pin)
import adafruit_servokit
index = 0
angleTranslation = [[90,1],[90,1],[130,1],[40,1],[90,1],[0,1]]
angles = [0, 70, -50, 90, -80, 0]
park = [0,0,20,-10,0,70]
limits = [[0,180],[0,180],[0,180],[0,180],[0,180],[0,70]]
limits2 = [[-90,90],[-90,90],[-130,150],[-40,120],[-90,90],[0,70]]
kit = adafruit_servokit.ServoKit(channels = 16)
def switchServo(direction):
global index
if index + direction > 5:
index = 0
elif index + direction <0:
index = 5
else:
index += direction
def parkArm():
parkAngles = park
for i in range(6):
target = translateAngle(i,parkAngles[i])
try:
kit.servo[i].angle = target
except ValueError:
print(f"out of range: {target} Servo: {i}")
def setAngles():
parkAngles = angles
for i in range(6):
target = translateAngle(i,parkAngles[i])
try:
kit.servo[i].angle = target