def main():
port = "/dev/tty.usbserial-AL034G1T"
serial = ServoSerial(port=port)
serial.open()
servo = Packet(pyservos.AX12)
# servo = Packet(pyservos.XL320)
# build
# 59 rpm max
data = []
ids = [1, 2, 3]
pos = [150, 200, 90]
vel = [200, 100, 300] # 0.111 rpm
for i, p, v in zip(ids, pos, vel):
data.append([i] + angle2int(p) + le(v))
pkt = servo.makeSyncWritePacket(pyservos.AX12.GOAL_POSITION, data)
print(pkt)
ans = serial.sendPkt(pkt) # send packet to servo
ans = servo.processStatusPacket(ans)
if ans:
print('status: {}'.format(ans))
# you will need to CHANGE this to the correct port
port = "/dev/ttyS0"
ID = 1
angle = int(sys.argv[1])
print('Setting servo[{}] to {:.2f} on port {}'.format(ID, angle, port))
try:
serial = ServoSerial(port=port)
serial.open()
except Exception as e:
print(e)
print('Oops, wrong port')
print('bye ....')
exit(1)
if True:
servo = Packet(pyservos.AX12)
print('We are talking to an AX12 servo')
else:
servo = Packet(pyservos.XL320)
print('We are talking to an XL320 servo')
pkt = servo.makeServoMovePacket(ID, angle)
ans = serial.sendPkt(pkt) # send packet to servo
ans = servo.processStatusPacket(ans)
if ans:
print('status: {}'.format(ans))