83 lines
2.9 KiB
Python
83 lines
2.9 KiB
Python
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from servo import *
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# --------------------------------------------------
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# An example of how to create and modify
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# the calibration of an angular servo
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# --------------------------------------------------
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# Create an angular servo on pin 0. By default its value ranges from -90 to +90
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angular_servo = Servo(servo2040.SERVO_1)
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# Access its calibration and print it out
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cal = angular_servo.calibration()
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print("Angular Servo:", cal, end="\n\n")
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WIDE_ANGLE_RANGE = 270 # The range we want the anglular servo to cover
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# Lets modify the calibration to increase its range
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cal.first_value(-WIDE_ANGLE_RANGE / 2)
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cal.last_value(WIDE_ANGLE_RANGE / 2)
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# Now apply the modified calibration to the servo and confirm it worked
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angular_servo.calibration(cal)
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print("Wide Angle Servo:", angular_servo.calibration(), end="\n\n")
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# --------------------------------------------------
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# An example of how to create and modify
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# the calibration of a linear servo
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# --------------------------------------------------
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LINEAR_RANGE = 50 # The range we want the linear servo to cover
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# Create a linear servo on pin 1. By default its value ranges from 0.0 to 1.0
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linear_servo = Servo(servo2040.SERVO_2, LINEAR)
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# Update the linear servo so its max value matches the real distance travelled
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cal = linear_servo.calibration()
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cal.last_value(LINEAR_RANGE)
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# Apply the modified calibration to the servo and confirm it worked
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linear_servo.calibration(cal)
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print("Linear Servo:", linear_servo.calibration(), end="\n\n")
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# --------------------------------------------------
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# An example of how to create and modify the
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# calibration of a continuous rotation servo
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# --------------------------------------------------
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CONTINUOUS_SPEED = 10 # The speed we want the continuous servo to cover
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# Create a continous rotation servo on pin 2. By default its value ranges from -1.0 to +1.0
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continuous_servo = Servo(servo2040.SERVO_3, CONTINUOUS)
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# Update the continuous rotation servo so its value matches its real speed
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cal = continuous_servo.calibration()
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cal.first_value(-CONTINUOUS_SPEED)
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cal.last_value(CONTINUOUS_SPEED)
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# Apply the modified calibration to the servo and confirm it worked
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continuous_servo.calibration(cal)
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print("Continuous Servo:", continuous_servo.calibration(), end="\n\n")
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# --------------------------------------------------
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# An example of how to create a custom
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# calibration and build a servo using it
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# --------------------------------------------------
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# Create an empty calibration
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cal = Calibration()
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# Give it a range of -45 to 45 degrees, corresponding to pulses of 1000 and 2000 microseconds
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cal.apply_two_point(1000, 2000, -45, 45)
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# Turn off the lower and upper limits, so the servo can go beyond 45 degrees
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cal.limit_to_calibration(False, False)
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# Create a servo on pin 3 using the custom calibration and confirmed it worked
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custom_servo = Servo(servo2040.SERVO_4, cal)
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print("Custom Servo:", custom_servo.calibration(), end="\n\n")
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