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TestMotor2Excel.py
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from lx16a import *
from math import sin, cos, pi
import time
import xlwt
import pandas as pd
import numpy as np
from xlwt import Workbook
class RecordMotorData():
def __init__ (self, servo):
self.servo = servo;
self.id = [];
self.angleOffset = [];
self.physicalPos = [];
self.virtualPos = [];
self.temp = [];
self.voltage = [];
def record(self):
self.id.append(int(self.servo.IDRead()))
self.angleOffset.append(int(self.servo.angleOffsetRead()))
self.physicalPos.append(int(self.servo.getPhysicalPos()))
self.virtualPos.append(int(self.servo.getVirtualPos()))
self.temp.append(int(self.servo.tempRead()))
self.voltage.append(int(self.servo.vInRead()))
def save2CSV(recordMotorDataList):
id = [];
angleOffset = [];
physicalPos = [];
virtualPos = [];
temp = [];
voltage = [];
for recordMotorData in recordMotorDataList:
id.extend(recordMotorData.id);
angleOffset.extend(recordMotorData.angleOffset);
physicalPos.extend(recordMotorData.physicalPos);
virtualPos.extend(recordMotorData.virtualPos);
temp.extend(recordMotorData.temp);
voltage.extend(recordMotorData.voltage);
df = pd.DataFrame(list(zip(id, angleOffset, physicalPos, virtualPos, temp, voltage)), columns = ["Id", "Angle offset", "Physical pos", "Virtual pos", "Temp", "Voltage"])
df.to_csv(r'MotorData.csv')
def initializeMotor(servo1):
targetPos = 120;
initialPos = servo1.getPhysicalPos();
error = targetPos-initialPos
print(servo1.IDRead())
print(initialPos)
print(error)
t=0;
while (abs(sin(t*2*pi/360)*error) < abs(error)):
# print("Motor id is ", servo1.IDRead())
# print("Physical pos is ", servo1.getPhysicalPos())
# print("Virtual pos is ", servo1.getVirtualPos())
servo1.moveTimeWrite(sin(t*2*pi/360)*error+initialPos)
time.sleep(.01)
t+=3
def resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E):
initializeMotor(servoL1);
initializeMotor(servoL2);
initializeMotor(servoA1S);
initializeMotor(servoA1E);
initializeMotor(servoA2S);
initializeMotor(servoA2E);
def danceLegs1(servo1, servo2,cycles, relativeAngleStep, r1, r2):
print("Starting dance 1")
direction = 1;
for i in range(0,cycles):
t=0;
initialPos1 = servo1.getPhysicalPos();
initialPos2 = servo2.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*relativeAngleStep)
# print("Motor id is ", servo1.IDRead())
# print("Physical pos is ", servo1.getPhysicalPos())
# print("Virtual pos is ", servo1.getVirtualPos())
# print("Motor id is ", servo2.IDRead())
# print("Physical pos is ", servo2.getPhysicalPos())
# print("Virtual pos is ", servo2.getVirtualPos())
servo1.moveTimeWrite(direction*sin(t*3*pi/360)*relativeAngleStep+initialPos1);
servo2.moveTimeWrite(direction*sin(t*3*pi/360)*relativeAngleStep+initialPos2);
time.sleep(.01)
t+=2;
direction= -direction;
def turnL1A2(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
#servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
#servoArm1S.moveTimeWrite(direction*sin(4*t*2*pi/360)*angleStepShoulder+initialPosA1S);
#servoArm1E.moveTimeWrite(direction*sin(4*t*2*pi/360)*angleStepElbow+initialPosA1E);
servoArm2S.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def turnL1A1(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
#servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
# servoArm2S.moveTimeWrite(-direction*sin(4*t*2*pi/360)*angleStepShoulder+initialPosA2S);
# servoArm2E.moveTimeWrite(-direction*sin(4*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def turnL2A1(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
#servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
#servoArm2S.moveTimeWrite(direction*sin(4*t*2*pi/360)*angleStepShoulder+initialPosA2S);
#servoArm2E.moveTimeWrite(direction*sin(4*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def turnL2A2(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
#servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
# servoArm1S.moveTimeWrite(-direction*sin(4*t*2*pi/360)*angleStepShoulder+initialPosA1S);
# servoArm1E.moveTimeWrite(-direction*sin(4*t*2*pi/360)*angleStepElbow+initialPosA1E);
servoArm2S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def danceArmsAlternate(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
# servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
# servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
time.sleep(.01)
servoArm2S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def danceArmsSynchronized(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
# servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
# servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
time.sleep(.01)
servoArm2S.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def danceLegsAndArms1(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
servoArm2S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
def danceLegsAndArms2(servoLeg1, servoLeg2, servoArm1S, servoArm1E, servoArm2S, servoArm2E,
cycles, angleStepLeg, angleStepShoulder, angleStepElbow, r1, r2):
print("Starting dance legs with arms")
direction = 1;
for i in range(0,cycles):
t=0;
initialPosL1 = servoLeg1.getPhysicalPos();
initialPosL2 = servoLeg2.getPhysicalPos();
initialPosA1S = servoArm1S.getPhysicalPos();
initialPosA1E = servoArm1E.getPhysicalPos();
initialPosA2S = servoArm2S.getPhysicalPos();
initialPosA2E = servoArm2E.getPhysicalPos();
while (t<180):
#r1.record();
#r2.record();
# print(sin(t*2*pi/360)*angleStepLeg)
# print("Motor id is ", servoLeg1.IDRead())
# print("Physical pos is ", servoLeg1.getPhysicalPos())
# print("Virtual pos is ", servoLeg1.getVirtualPos())
# print("Motor id is ", servoLeg2.IDRead())
# print("Physical pos is ", servoLeg2.getPhysicalPos())
# print("Virtual pos is ", servoLeg2.getVirtualPos())
servoLeg1.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL1);
servoLeg2.moveTimeWrite(direction*sin(t*2*pi/360)*angleStepLeg+initialPosL2);
servoArm1S.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA1S);
servoArm1E.moveTimeWrite(direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA1E);
servoArm2S.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepShoulder+initialPosA2S);
servoArm2E.moveTimeWrite(-direction*sin(2*t*2*pi/360)*angleStepElbow+initialPosA2E);
time.sleep(.01)
t+=2;
direction= -direction;
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
# 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/
try:
LX16A.initialize("COM10")
servoL1 = LX16A(7)
servoL2 = LX16A(8)
servoA1S = LX16A(2)
servoA1E = LX16A(1)
servoA2S = LX16A(4)
servoA2E = LX16A(3)
t = 0
flag2Move = False
servoL1.servoMode()
servoL2.servoMode()
servoA1S.servoMode()
servoA1E.servoMode()
servoA2S.servoMode()
servoA2E.servoMode()
rL1 = RecordMotorData(servoL1);
rL2 = RecordMotorData(servoL2);
print("Motor id is ", servoL1.IDRead())
print("Angle offset is ", servoL1.angleOffsetRead())
print("Angle limit is ", servoL1.angleLimitRead())
print("Physical pos is ", servoL1.getPhysicalPos())
print("Virtual pos is ", servoL1.getVirtualPos())
print("Current temperature is ", servoL1.tempRead())
print("Current voltage is ", servoL1.vInRead())
print("Motor id is ", servoL2.IDRead())
print("Angle offset is ", servoL2.angleOffsetRead())
print("Angle limit is ", servoL2.angleLimitRead())
print("Physical pos is ", servoL2.getPhysicalPos())
print("Virtual pos is ", servoL2.getVirtualPos())
print("Current temperature is ", servoL2.tempRead())
print("Current voltage is ", servoL2.vInRead())
#rL1.record()
#rL2.record()
print("Starting initialization")
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
print("End initialization")
print("Motor id is ", servoL1.IDRead())
print("Angle offset is ", servoL1.angleOffsetRead())
print("Angle limit is ", servoL1.angleLimitRead())
print("Physical pos is ", servoL1.getPhysicalPos())
print("Virtual pos is ", servoL1.getVirtualPos())
print("Current temperature is ", servoL1.tempRead())
print("Current voltage is ", servoL1.vInRead())
print("Motor id is ", servoL2.IDRead())
print("Angle offset is ", servoL2.angleOffsetRead())
print("Angle limit is ", servoL2.angleLimitRead())
print("Physical pos is ", servoL2.getPhysicalPos())
print("Virtual pos is ", servoL2.getVirtualPos())
print("Current temperature is ", servoL2.tempRead())
print("Current voltage is ", servoL2.vInRead())
#rL1.record()
#rL2.record()
#initial position
if abs(servoL1.getPhysicalPos() - 120) > 20:
raise Exception("Initial position is not 120")
if (abs(servoL2.getPhysicalPos() - 120) > 20):
raise Exception("Initial position is not 120")
#danceLegs1(servo1, servo2, 4, 10, r1, r2)
danceArmsAlternate(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 2, 30, 30, 30, rL1, rL2)
danceLegsAndArms1(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 30, 30, 30, rL1, rL2)
turnL1A1(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 60, 30, 45, rL1, rL2)
turnL2A2(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 60, 30, 45, rL1, rL2)
danceLegsAndArms1(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 30, 30, 30, rL1, rL2)
turnL1A2(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 30, 30, 30, rL1, rL2)
turnL2A1(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 4, 30, 30, 30, rL1, rL2)
danceArmsSynchronized(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E, 2, 30, 30, 30, rL1, rL2)
servoL1.motorMode(800)
servoL2.motorMode(800)
time.sleep(5)
servoL1.servoMode()
servoL2.servoMode()
print("Resetting to home position")
resetAllMotors(servoL1, servoL2, servoA1S, servoA1E, servoA2S, servoA2E)
print("Finished resetting")
print("Motor id is ", servoL1.IDRead())
print("Angle offset is ", servoL1.angleOffsetRead())
print("Angle limit is ", servoL1.angleLimitRead())
print("Physical pos is ", servoL1.getPhysicalPos())
print("Virtual pos is ", servoL1.getVirtualPos())
print("Current temperature is ", servoL1.tempRead())
print("Current voltage is ", servoL1.vInRead())
print("Motor id is ", servoL2.IDRead())
print("Angle offset is ", servoL2.angleOffsetRead())
print("Angle limit is ", servoL2.angleLimitRead())
print("Physical pos is ", servoL2.getPhysicalPos())
print("Virtual pos is ", servoL2.getVirtualPos())
print("Current temperature is ", servoL2.tempRead())
print("Current voltage is ", servoL2.vInRead())
#rL1.record()
#L2.record()
print("Finished recording")
#final position before shutdown
if (abs(servoL1.getPhysicalPos() - 120) > 20):
raise Exception("Final position is not 120")
if (abs(servoL2.getPhysicalPos() - 120) > 20):
raise Exception("Final position is not 120")
#print("Starting to save")
#motorDataList = [];
#motorDataList.append(rL1);
#motorDataList.append(rL2);
#save2CSV(motorDataList)
#print("Finished saving")
except KeyboardInterrupt:
quit()