87 lines
3.0 KiB
Python
87 lines
3.0 KiB
Python
from inventor import Inventor2040W, SERVO_1, SERVO_2, SERVO_3, SERVO_4
|
|
from servo import Calibration, ANGULAR, LINEAR, CONTINUOUS
|
|
|
|
"""
|
|
Shows how to configure Inventor 2040 W's servos with different
|
|
common calibrations, as well as a completely custom one.
|
|
"""
|
|
|
|
# Create a new Inventor2040W and access four of its servos
|
|
board = Inventor2040W()
|
|
angular_servo = board.servos[SERVO_1]
|
|
linear_servo = board.servos[SERVO_2]
|
|
continuous_servo = board.servos[SERVO_3]
|
|
custom_servo = board.servos[SERVO_4]
|
|
|
|
|
|
# -----------------------------------------------------
|
|
# Modify the calibration of an angular servo
|
|
# -----------------------------------------------------
|
|
|
|
# Access the calibration of the first servo and print it out
|
|
cal = angular_servo.calibration()
|
|
print("Angular Servo:", cal, end="\n\n")
|
|
|
|
|
|
WIDE_ANGLE_RANGE = 270 # The range we want the anglular servo to cover
|
|
|
|
# Lets modify the calibration to increase its range
|
|
cal.apply_default_pairs(ANGULAR)
|
|
cal.first_value(-WIDE_ANGLE_RANGE / 2)
|
|
cal.last_value(WIDE_ANGLE_RANGE / 2)
|
|
|
|
# Now apply the modified calibration to the servo and confirm it worked
|
|
angular_servo.calibration(cal)
|
|
print("Wide Angle Servo:", angular_servo.calibration(), end="\n\n")
|
|
|
|
|
|
# ---------------------------------------------------
|
|
# Create and modify the calibration of a linear servo
|
|
# ---------------------------------------------------
|
|
|
|
LINEAR_RANGE = 50 # The range we want the linear servo to cover
|
|
|
|
# Update the linear servo so its max value matches the real distance travelled
|
|
cal = linear_servo.calibration()
|
|
cal.apply_default_pairs(LINEAR)
|
|
cal.last_value(LINEAR_RANGE)
|
|
|
|
# Apply the modified calibration to the servo and confirm it worked
|
|
linear_servo.calibration(cal)
|
|
print("Linear Servo:", linear_servo.calibration(), end="\n\n")
|
|
|
|
|
|
# ----------------------------------------------------------------
|
|
# Create and modify the calibration of a continuous rotation servo
|
|
# ----------------------------------------------------------------
|
|
|
|
CONTINUOUS_SPEED = 10 # The speed we want the continuous servo to cover
|
|
|
|
# Update the continuous rotation servo so its value matches its real speed
|
|
cal = continuous_servo.calibration()
|
|
cal.apply_default_pairs(CONTINUOUS)
|
|
cal.first_value(-CONTINUOUS_SPEED)
|
|
cal.last_value(CONTINUOUS_SPEED)
|
|
|
|
# Apply the modified calibration to the servo and confirm it worked
|
|
continuous_servo.calibration(cal)
|
|
print("Continuous Servo:", continuous_servo.calibration(), end="\n\n")
|
|
|
|
|
|
# ------------------------------------------------------
|
|
# Create a custom calibration and build a servo using it
|
|
# ------------------------------------------------------
|
|
|
|
# Create an empty calibration
|
|
cal = Calibration()
|
|
|
|
# Give it a range of -45 to 45 degrees, corresponding to pulses of 1000 and 2000 microseconds
|
|
cal.apply_two_pairs(1000, 2000, -45, 45)
|
|
|
|
# Turn off the lower and upper limits, so the servo can go beyond 45 degrees
|
|
cal.limit_to_calibration(False, False)
|
|
|
|
# Create a servo on pin 3 using the custom calibration and confirmed it worked
|
|
custom_servo.calibration(cal)
|
|
print("Custom Servo:", custom_servo.calibration(), end="\n\n")
|