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")
