61 lines
1.5 KiB
Python
61 lines
1.5 KiB
Python
import time
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import math
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from servo import Servo, servo2040
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"""
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Demonstrates how to create multiple Servo objects and control them together.
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"""
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# Create a list of servos for pins 0 to 3. Up to 16 servos can be created
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START_PIN = servo2040.SERVO_1
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END_PIN = servo2040.SERVO_4
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servos = [Servo(i) for i in range(START_PIN, END_PIN + 1)]
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# Enable all servos (this puts them at the middle)
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for s in servos:
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s.enable()
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time.sleep(2)
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# Go to min
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for s in servos:
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s.to_min()
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time.sleep(2)
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# Go to max
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for s in servos:
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s.to_max()
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time.sleep(2)
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# Go back to mid
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for s in servos:
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s.to_mid()
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time.sleep(2)
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SWEEPS = 3 # How many sweeps of the servo to perform
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STEPS = 10 # The number of discrete sweep steps
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STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
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SWEEP_EXTENT = 90.0 # How far from zero to move the servo when sweeping
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# Do a sine sweep
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for j in range(SWEEPS):
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for i in range(360):
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value = math.sin(math.radians(i)) * SWEEP_EXTENT
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for s in servos:
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s.value(value)
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time.sleep(0.02)
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# Do a stepped sweep
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for j in range(SWEEPS):
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for i in range(0, STEPS):
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for s in servos:
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s.to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
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time.sleep(STEPS_INTERVAL)
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for i in range(0, STEPS):
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for s in servos:
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s.to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
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time.sleep(STEPS_INTERVAL)
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# Disable the servos
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for s in servos:
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s.disable()
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