Control All 6 Servos

1. API Introduction

The API for controlling all 6 bus servos simultaneously is:

Arm_serial_servo_write6(S1, S2, S3, S4, S5, S6, time)

Function: Simultaneously controls the target angles of the six servos of the robotic arm.

Parameter Description:

S1: Angle value for servo 1, 0~180.

S2: Angle value for servo 2, 0~180.

S3: Angle value for servo 3, 0~180.

S4: Angle value for servo 4, 0~180.

S5: Angle value for servo 5, 0~270.

S6: Angle value for servo 6, 0~180.

time: The runtime for servo movement. Within the valid range, for the same rotation angle, a smaller time value results in faster servo movement. Input 0 for maximum speed.

Return value: None.

2. Code

Code path:

~/dofbot_ctrl/scripts/05.ctrl_all.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
# Control six servos simultaneously, gradually changing angles.
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
 
 # Let the servos return to center position
     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

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. You will see all six servos rotate simultaneously, and the robotic arm continuously changes its posture.

To exit, click the stop button on the toolbar.