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()
