Control All Servos

I. API Introduction

The corresponding API for controlling 6 bus servos simultaneously is:

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

Function: Simultaneously control the angles to which the six servos of the robotic arm should move.

Parameter explanation:

​x
S1: Angle value of servo 1, range 0~180.
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S2: Angle value of servo 2, range 0~180.
​
S3: Angle value of servo 3, range 0~180.
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S4: Angle value of servo 4, range 0~180.
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S5: Angle value of servo 5, range 0~270.
​
S6: Angle value of servo 6, range 0~180.
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time: The time for the servo to run. Within the effective range, for the same angle of rotation, the smaller the input time, the faster the servo movement. Input 0 for the servo to run at maximum speed.
​
Return value: None.

II. Start Docker

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

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./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/5.ctrl_all.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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# Simultaneously control six servos to move, 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
 
 # Reset servos 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

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del Arm # Release the Arm object

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Open the program file from jupyter lab, and click the "run entire notebook" button on the jupyter lab toolbar, you will see the six servos of the robotic arm move simultaneously, with the robotic arm continuously changing its posture.

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To exit, click the stop button on the toolbar.