Read Servo Angle

I. API Introduction

The corresponding API for reading the angle of a single bus servo is:

Arm_serial_servo_read(id)

Function: Read the current angle value of the bus servo.

Parameter explanation:

id: The ID number of the servo to read, range is 1~6. Each ID number represents a servo, with the bottom-most servo having ID 1, increasing upward, and the top-most servo having ID 6.

Return value: The current angle of the corresponding ID servo. When ID=5, the angle range is 0~270, all others are 0~180.

II. Start Docker

After entering the main board desktop, open a terminal and run the following command to start the corresponding Dofbot container:

./Docker_Ros.sh

Then enter the following command in the Docker terminal to start jupyter-lab,

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cd
jupyter-lab --allow-root

Then enter the main board's IP address followed by :9999 in the browser,

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IP:9999         // Example: 192.168.1.11:9999

III. Code Content

Code path: /root/Dofbot/3.ctrl_Arm/4.read_servo.ipynb

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#!/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)

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# 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

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# After individually controlling a 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)

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del Arm # Release the Arm object

Open the program file from jupyter lab, and click the "run entire notebook" button on the jupyter lab toolbar, jupyter lab will print out the current angle values of the six servos of the robotic arm.

To exit, click the stop button on the toolbar.