示例#1
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else:
  inputData = csv.reader(f)
  for line in inputData:
    servoNum = line.pop(0)
    pos = 1
    for field in line:
      servoTable[int(servoNum)][int(pos)] = int(field)
      pos += 1

#default arm position
x = 13
y = 9.5
wristangle = -90

#initialize IK model
arm = IKArm(x,y,wristangle)
shoulderNeutral = 0
shoulderNeutralPWM = 390
shoulderRef = 90
shoulderRefPWM = 575
elbowNeutral = 0
elbowNeutralPWM = 465
elbowRef = 90
elbowRefPWM = 270
wristNeutral = 0
wristNeutralPWM = 455
wristRef = -90
wristRefPWM = 220

# get mid positions and move arms to those locations
midPositions = []
示例#2
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文件: demo.py 项目: nikobrad/RobotArm
# update the servo positions
def updatePos(positions):
  for i in range(0,6):
    pwm.setPWM(i,0,positions[i])

# Initialise the PWM device using the default address
pwm = PWM(0x40)

#default arm position
x = 13
y = 9.5
wristangle = -90

#initialize IK model
arm = IKArm(x,y,wristangle)
shoulderNeutral = 0
shoulderNeutralPWM = 390
shoulderRef = 90
shoulderRefPWM = 575
elbowNeutral = 0
elbowNeutralPWM = 465
elbowRef = 90
elbowRefPWM = 270
wristNeutral = 0
wristNeutralPWM = 455
wristRef = -90
wristRefPWM = 220

currentPositions = [0,0,0,0,0,0] #predefined
targetPositions = [0,0,0,0,0,0]