class Leg(object): """ Setting the addresses, channels and default position of the 3 servos of the leg. """ def __init__(self, AddressArray, ChannelArray, DefaultPulseArray, inverse=False, offset=[0,0,0]): self._AddressArray = AddressArray self._ChannelArray = ChannelArray self._DefaultPulseArray = DefaultPulseArray self._inverse = inverse self._offset = offset # Receiving variables, this will be set into arrays. If there aren't 3 input variables of the address # it will print an Error. if len(self._AddressArray) == 3: self._Hip = Servo(self._AddressArray[0], self._ChannelArray[0], self._DefaultPulseArray[0], self._inverse, self._offset[0]) self._Knee = Servo(self._AddressArray[1], self._ChannelArray[1], self._DefaultPulseArray[1], self._inverse, self._offset[1]) self._Ankle = Servo(self._AddressArray[2], self._ChannelArray[2],self._DefaultPulseArray[2], self._inverse, self._offset[2]) #3 keer nul? aangepast naar 0,1,2 else: print "-----------Error Creating leg-----------" # Setting the Hip to the position of the given pulse def moveHip(self, Pulse): self._Hip.setPulse(Pulse) # Setting the Knee to the position of the given pulse def moveKnee(self, Pulse): self._Knee.setPulse(Pulse) # Setting the Ankle to the position of the given pulse def moveAnkle(self, Pulse): self._Ankle.setPulse(Pulse) # Setting the full Leg to the starting position of 375 pulses def defaultPos(self): self.moveHip(self._Hip, self._DefaultPulseArray[0]) self.moveKnee(self._Knee, self._DefaultPulseArray[1]) self.moveAnkle(self._Ankle, self._DefaultPulseArray[2]) def getHip(self): return self._Hip.getPulse() def getKnee(self): return self._Knee.getPulse() def getAnkle(self): return self._Ankle.getPulse()