def moveServo(self):
if self.rotation == "clockwise":
self.position += self.index
if self.position <= s.ubAngle:
print("current position: ", self.position)
else:
self.rotation = "counterClockwise"
self.position = s.ubAngle
else:
if self.position >= s.lbAngle:
self.position -= self.index
print("current position: ", self.position)
Servo.baseServo(s.baseservoPin, self.position)
def moveBaseServo(self):
rotation = "clockwise"
index = 80
position = s.lbAngle
while (True):
if rotation == "clockwise":
print("Arm position: ", position)
Servo.baseServo(s.baseservoPin, position)
time.sleep(2)
position += index
if position > s.ubAngle:
rotation = "anti-clockwise"
position = s.ubAngle
else:
print("Arm position: ", position)
Servo.baseServo(s.baseservoPin, position)
time.sleep(2)
position -= index
if position < s.lbAngle:
break
def openGripper(self):
Servo.baseServo(s.gripperPin, s.openGripper)
time.sleep(1)
def adjustHeight(self):
Servo.baseServo(s.thirdServoPin, s.heightAngle)
time.sleep(2)
def closeGripper(self):
Servo.baseServo(s.gripperPin, s.closeGripper)
print("Gripper closed.")
time.sleep(2)
def openGripper(self):
Servo.baseServo(s.gripperPin, s.openGripper)
print("Gripper Opened!!")
time.sleep(2)
def openGripper(self): #open the gripper wide
Servo.baseServo(s.gripperPin, s.openGripper)
time.sleep(1)
