57 lines
1.6 KiB
Python
57 lines
1.6 KiB
Python
import time
|
|
import math
|
|
from servo import ServoCluster, servo2040
|
|
|
|
"""
|
|
Demonstrates how to create a ServoCluster object to control multiple servos at once.
|
|
|
|
NOTE: ServoCluster uses the RP2040's PIO system, and as
|
|
such may have problems when running code multiple times.
|
|
If you encounter issues, try resetting your board.
|
|
"""
|
|
|
|
# Create a servo cluster for pins 0 to 3, using PIO 0 and State Machine 0
|
|
START_PIN = servo2040.SERVO_1
|
|
END_PIN = servo2040.SERVO_4
|
|
servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
|
|
|
|
# Enable all servos (this puts them at the middle)
|
|
servos.enable_all()
|
|
time.sleep(2)
|
|
|
|
# Go to min
|
|
servos.all_to_min()
|
|
time.sleep(2)
|
|
|
|
# Go to max
|
|
servos.all_to_max()
|
|
time.sleep(2)
|
|
|
|
# Go back to mid
|
|
servos.all_to_mid()
|
|
time.sleep(2)
|
|
|
|
SWEEPS = 3 # How many sweeps of the servo to perform
|
|
STEPS = 10 # The number of discrete sweep steps
|
|
STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
|
|
SWEEP_EXTENT = 90.0 # How far from zero to move the servos when sweeping
|
|
|
|
# Do a sine sweep
|
|
for j in range(SWEEPS):
|
|
for i in range(360):
|
|
value = math.sin(math.radians(i)) * SWEEP_EXTENT
|
|
servos.all_to_value(value)
|
|
time.sleep(0.02)
|
|
|
|
# Do a stepped sweep
|
|
for j in range(SWEEPS):
|
|
for i in range(0, STEPS):
|
|
servos.all_to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
|
|
time.sleep(STEPS_INTERVAL)
|
|
for i in range(0, STEPS):
|
|
servos.all_to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
|
|
time.sleep(STEPS_INTERVAL)
|
|
|
|
# Disable the servos
|
|
servos.disable_all()
|