Module micromelon.servos

Collection of functions for controlling servo motors connected to
the three pin headers on the back of the robot.

"""
Collection of functions for controlling servo motors connected to
the three pin headers on the back of the robot.
"""
from ._servos import *

__all__ = [
    "left",
    "right",
    "setBoth",
    "read",
]

Functions

def left(degrees)

Turns the left servo to the specified number of degrees

Args

degrees : number

must be between -90 and 90 and will be rounded

Raises

Exception if degrees is not a number

Returns

None

Expand source code

def left(degrees):
    """
    Turns the left servo to the specified number of degrees

    Args:
      degrees (number): must be between -90 and 90 and will be rounded

    Raises:
      Exception if degrees is not a number

    Returns:
      None
    """
    degrees = restrictServoDegrees(degrees)
    return _setServos(degrees, 0xFF)

def read()

Returns

Array of degrees [left, right] that is the current set points of the left and right servos

Expand source code

def read():
    """
    Returns:
      Array of degrees [left, right] that is the current set points of the left and right servos
    """
    degrees = _rc.readAttribute(OPTYPE.SERVO_MOTORS)
    # unsigned read so offset back to -90 to 90 range
    return [degrees[0] - 90, degrees[1] - 90]

def right(degrees)

Turns the right servo to the specified number of degrees

Args

degrees : number

must be between -90 and 90 and will be rounded

Raises

Exception if degrees is not a number

Returns

None

Expand source code

def right(degrees):
    """
    Turns the right servo to the specified number of degrees

    Args:
      degrees (number): must be between -90 and 90 and will be rounded

    Raises:
      Exception if degrees is not a number

    Returns:
      None
    """
    degrees = restrictServoDegrees(degrees)
    return _setServos(0xFF, degrees)

def setBoth(s1, s2)

Sets both servo motors to specified number of degrees

Args

s1, s2 (number): degrees for left and right servos respectively
must be between -90 and 90 and will be rounded

Raises

Exception if s1 or s2 is not a number

Returns

None

Expand source code

def setBoth(s1, s2):
    """
    Sets both servo motors to specified number of degrees

    Args:
      s1, s2 (number): degrees for left and right servos respectively
                        must be between -90 and 90 and will be rounded

    Raises:
      Exception if s1 or s2 is not a number

    Returns:
      None
    """
    s1 = restrictServoDegrees(s1)
    s2 = restrictServoDegrees(s2)
    return _setServos(s1, s2)