Controlling Servo Motors

• 05_03_ctrl_all.ipynb

• Running the cell code

  Ctrl + Enter

#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device

# register the robot arm as an object
Arm = Arm_Device()
time.sleep(.1)

• Load Arm_Lib module and register the robot arm as an object

# It gradually changes the angle while controlling 6 servos at the same time.
def ctrl_all_servo(angle, s_time = 500):
    Arm.Arm_serial_servo_write6(angle, 180-angle, angle, angle, angle, angle, s_time)
    time.sleep(s_time/1000)


def main():
    dir_state = 1
    angle = 90

    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)


    while True:
        if dir_state == 1:
            angle += 1
            if angle >= 180:
                dir_state = 0
        else:
            angle -= 1
            if angle <= 0:
                dir_state = 1

        ctrl_all_servo(angle, 10)
        time.sleep(10/1000)
#         print(angle)


try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

• Arm_serial_servo_write (motor number, angle, time)

• Increase and decrease all servo motor angles by 1˚ using a while statement

del Arm  # Remove robot arm object

• Remove object (Robot arm)