def set_angle_range(self, min_angle, max_angle, min_microseconds, max_microseconds):
data = [self.sid]
data.extend(utils.decTo256(min_angle))
data.extend(utils.decTo256(max_angle))
data.extend(utils.decTo256(min_microseconds))
data.extend(utils.decTo256(max_microseconds))
resp = self.brook.write(self.cid, 11, data)
def set_pid_speed(self, speed):
data = utils.decTo256(speed)
resp = self.brook.write(self.cid, 28, data)
# print(utils.interpret(resp))
self.desired_speed = speed
if(self.collision):
self.collision_detect()
def set_pid_angle(self, setpoint):
data = utils.decTo256(setpoint)
resp = self.brook.write(self.cid, 26,data)
def set_tpr(self):
data = utils.decTo256(self.motor_type["tpr"])
resp = self.brook.write(self.cid, 23, data)
def set_angle(self, angle):
data = [self.sid]
data.extend(utils.decTo256(angle)) #Set angle can now send values greater than 255 to the empire board to supprot wider range servos
resp = self.brook.write(self.cid, 9, data)