<![CDATA[$ python
>>> import gopigo3
>>> GPG = gopigo3.GoPiGo3()
本機は，サーボのケーブルをコネクタ「Servo2」に挿している。
GPG.set_servo(GPG.SERVO_2, n) で distance sensor が正面を向く n
を探すと，本機の場合は n = 1400 だった。
>>> GPG.set_servo(GPG.SERVO_2, 1400)
>>> GPG.set_servo(GPG.SERVO_2, 1400 - 500)
>>> GPG.set_servo(GPG.SERVO_2, 1400 + 500)
>>> GPG.reset_all()
>>> quit()]]>
- ~/Dexter/GoPiGo3/Software/Python/Examples/Servo.py
<![CDATA[$ cd ~/Dexter/GoPiGo3/Software/Python
$ sudo chown -R pi Examples
$ sudo chgrp -R pi Examples
$ cd Examples
$ ./Servo.py
$ vi Servo.py]]>
本機はサーボのケーブルをコネクタ「Servo2」に挿しているので，
GPG.set_servo(GPG.SERVO_1, ‥‥) の行をコメントアウト
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<![CDATA[#!/usr/bin/env python
# import the time library for the sleep function
import time
# import the GoPiGo3 drivers
import gopigo3
# Create an instance of the GoPiGo3 class. GPG will be the GoPiGo3 object.
GPG = gopigo3.GoPiGo3()
try:
while True:
# count from 1000 to 2000
for i in range(1000, 2001):
# GPG.set_servo(GPG.SERVO_1, i)
GPG.set_servo(GPG.SERVO_2, 3000-i)
time.sleep(0.001)
# count from 1000 to 2000
for i in range(1000, 2001):
GPG.set_servo(GPG.SERVO_2, i)
# GPG.set_servo(GPG.SERVO_1, 3000-i)
time.sleep(0.001)
# except the program gets interrupted by Ctrl+C on the keyboard.
except KeyboardInterrupt:
# Unconfigure the sensors, disable the motors,
# and restore the LED to the control of the GoPiGo3 firmware.
GPG.reset_all()
]]>
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備考：つぎのファイルは，機能しない
──実際，SERVO_1, SERVO_2 を想定していない
https://github.com/DexterInd/GoPiGo/blob/master/Software/Python/Examples/Basic_Servo/basic_servo.py
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<![CDATA[#!/usr/bin/env python
from gopigo import *
servo_pos=90
print "CONTROLS"
print "a: move servo left"
print "d: move servo right"
print "s: move servo home"
print "Press ENTER to send the commands"
while True:
#Get the input from the user and change the servo angles
# Get keyboard input.
inp=raw_input()
# Now decide what to do with that keyboard input.
if inp=='a':
# If input is 'a' move the servo forward 10 degrees.
servo_pos=servo_pos+10
elif inp=='d':
# If the input is 'd' move the servo backward by 10 degrees.
servo_pos=servo_pos-10
elif inp=='s':
servo_pos=90
#Get the servo angles back to the normal 0 to 180 degree range
if servo_pos>180:
servo_pos=180
if servo_pos<0:
servo_pos=0
# This function updates the servo with the latest positon. Move the servo.
servo(servo_pos)
# Take a break in between operations.
time.sleep(.1)]]>
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