from agility.maestro import Maestro from agility.main import Stepper stepper = Stepper(0, 1, 200) maestro = Maestro() maestro.rotate(stepper, -360, 2000)
from agility.pololu.usc import Usc
from agility.pololu.reader import BytecodeReader
from agility.maestro import Maestro
from agility.main import Servo
from finesse.eclipse import Finesse
import math, time
###########################
# Front right leg only!
# Currently the white one.
###########################
# usc = Usc()
maestro = Maestro()
# Define servos.
servo4 = Servo(3, -90, 180, 500, 2500, 150, bias=10, direction=-1)
servo5 = Servo(4, -225, 45, 500, 2500, 150, bias=5, direction=1)
servo6 = Servo(5, -135, 135, 500, 2500, 150, bias=10, direction=1)
servos = [servo4, servo5, servo6]
# Configure velocity.
maestro.set_speed(servo4, servo4.max_vel)
maestro.set_speed(servo5, servo5.max_vel)
maestro.set_speed(servo6, servo6.max_vel)
# Go home.
def goHome():
for servo in servos:
servo.set_target(0)
maestro.set_target(servo)
from agility.maestro import Maestro from agility.main import Servo from finesse.eclipse import Finesse import math, time, sys import collections import numpy as np from itertools import chain ############################# # This test will save us all. ############################# maestro = Maestro() # Leg 1 servos. servo1 = Servo(0, -180, 90, 500, 2500, 150, bias=-13, direction=1) servo2 = Servo(1, -45, 225, 500, 2500, 150, bias=0, direction=1) servo3 = Servo(2, -135, 135, 500, 2500, 150, bias=0, direction=-1) leg1 = [servo1, servo2, servo3] # Leg 2 servos. servo4 = Servo(3, -90, 180, 500, 2500, 150, bias=10, direction=-1) servo5 = Servo(4, -225, 45, 500, 2500, 150, bias=0, direction=1) servo6 = Servo(5, -135, 135, 500, 2500, 150, bias=10, direction=1) leg2 = [servo4, servo5, servo6] # Leg 3 servos. servo7 = Servo(6, -90, 180, 500, 2500, 150, bias=-10, direction=1) servo8 = Servo(7, -45, 225, 500, 2500, 150, bias=2, direction=1) servo9 = Servo(8, -135, 135, 500, 2500, 150, bias=0, direction=-1) leg3 = [servo7, servo8, servo9]