TestLegMotors.py

from lx16a import *
from math import sin, cos
import time

# This is the port that the controller board is connected to
# This will be different for different computers
# On Windows, try the ports COM1, COM2, COM3, etc...
# On Raspbian, try each port in /dev/
LX16A.initialize("COM8")

# There should two servos connected, with IDs 1 and 2
servo1 = LX16A(7)
servo2 = LX16A(8)

t = 0

flag = True

while flag:
	# Two sine waves out of phase
	# The servos can rotate between 0 and 240 degrees,
	# So we adjust the waves to be in that range
	#servo1.moveTimeWrite(sin(t) * 120 + 120)
	print("Motor id is ", servo1.IDRead())
	print("Angle offset is ", servo1.angleOffsetRead())
	print("Angle limit is ", servo1.angleLimitRead())
	print("Physical pos is ", servo1.getPhysicalPos());
	print("Virtual pos is ", servo1.getVirtualPos());
	print("Current temperature is ", servo1.tempRead())
	print("Current voltage is ", servo1.vInRead())

	print("Motor id is ", servo2.IDRead())
	print("Angle offset is ", servo2.angleOffsetRead())
	print("Angle limit is ", servo2.angleLimitRead())
	print("Physical pos is ", servo2.getPhysicalPos());
	print("Virtual pos is ", servo2.getVirtualPos());
	print("Current temperature is ", servo2.tempRead())
	print("Current voltage is ", servo2.vInRead())
	servo1.moveTimeWriteRel(-60, time = 500)
	servo1.angleOffsetWrite()
	servo2.moveTimeWriteRel(-60, time = 500)
	servo2.angleOffsetWrite()
	time.sleep(2)
	servo1.moveTimeWriteRel(60, time = 500)
	servo1.angleOffsetWrite()
	servo2.moveTimeWriteRel(60, time = 500)
	servo2.angleOffsetWrite()

	t += 0.01
	flag = False