Read Servo Angle

1. API Introduction

The API for reading a single bus servo angle is:

Arm_serial_servo_read(id)

Function: Reads the current angle of the bus servo.

Parameter Description:

id: The ID number of the servo to read, range 1~6. Each ID represents a servo. The lowest servo has ID 1, increasing upward, with the topmost servo having ID 6.

Return value: The current angle of the specified servo. When ID=5, the angle range is 0~270; for others, it is 0~180.

2. Code

Code path:

~/dofbot_ctrl/scripts/04.read_servo.ipynb

x
#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device
# Create robotic arm object
Arm = Arm_Device()
time.sleep(.1)

x
# Read the angles of all servos and print them in a loop
def main():
    while True:
         for i in range(6):
         aa = Arm.Arm_serial_servo_read(i+1)
         print(aa)
         time.sleep(.01)
         time.sleep(.5)
         print(" END OF LINE! ")
try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

x
# Control a single servo to move, then read its angle
id = 6
angle = 150
Arm.Arm_serial_servo_write(id, angle, 500)
time.sleep(1)
aa = Arm.Arm_serial_servo_read(id)
print(aa)
time.sleep(.5)

x
del Arm # Release the Arm object

Open the program file from Jupyter Lab and click the "Run All Cells" button on the Jupyter Lab toolbar. Jupyter Lab will print the current angle values of the six servos.

To exit, click the stop button on the toolbar.