def servodriver(self, ssctime, leg, turret, gun, serial): cmd = '' # leg Servos for legIndex in xrange(4): cmd = cmd + leg[legIndex].moveleg(leg[legIndex].coxaangle, leg[legIndex].tibiaangle, leg[legIndex].femurangle) # turret Servos cmd = cmd + turret.moveturret(turret.panangle, turret.tiltangle) # gun cmd = cmd + gun.command() #print cmd # Send the servo commands serial.sendcommand(cmd + 'T' + str(ssctime))
def sit(self, ssctime, leg, turret, gun, serial): cmd = '' # leg Servos cmd = cmd + leg[0].moveleg(45, 15, 0) cmd = cmd + leg[1].moveleg(45, 15, 0) cmd = cmd + leg[2].moveleg(-45, 15, 0) cmd = cmd + leg[3].moveleg(-45, 15, 0) # turret Servos cmd = cmd + turret.moveturret(0, 0) # gun gun.stop() cmd = cmd + gun.command() #print cmd # Send the servo commands serial.sendcommand(cmd + 'T' + str(ssctime))