62 lines
1.8 KiB
Python
62 lines
1.8 KiB
Python
import time
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import math
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import random
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from inventor import Inventor2040W, SERVO_1
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"""
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An example of how to move a servo smoothly between random positions.
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Press "User" to exit the program.
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"""
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UPDATES = 50 # How many times to update Servos per second
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TIME_FOR_EACH_MOVE = 2 # The time to travel between each random value
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UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
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SERVO_EXTENT = 80 # How far from zero to move the servo
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USE_COSINE = True # Whether or not to use a cosine path between values
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# Create a new Inventor2040W and get a servo from it
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board = Inventor2040W()
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s = board.servos[SERVO_1]
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# Get the initial value and create a random end value between the extents
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start_value = s.mid_value()
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end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
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update = 0
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# Continually move the servo until the user button is pressed
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while not board.switch_pressed():
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# Calculate how far along this movement to be
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percent_along = update / UPDATES_PER_MOVE
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if USE_COSINE:
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# Move the servo between values using cosine
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s.to_percent(math.cos(percent_along * math.pi), 1.0, -1.0, start_value, end_value)
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else:
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# Move the servo linearly between values
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s.to_percent(percent_along, 0.0, 1.0, start_value, end_value)
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# Print out the value the servo is now at
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print("Value = ", round(s.value(), 3), sep="")
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# Move along in time
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update += 1
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# Have we reached the end of this movement?
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if update >= UPDATES_PER_MOVE:
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# Reset the counter
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update = 0
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# Set the start as the last end and create a new random end value
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start_value = end_value
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end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
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time.sleep(1.0 / UPDATES)
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# Disable the servo
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s.disable()
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