From 52a89902d5e4bb75b70f5b473b8bfa9d8a43fe46 Mon Sep 17 00:00:00 2001 From: Will Barber Date: Fri, 26 Apr 2024 08:26:55 +0100 Subject: [PATCH] Update servo limits, numbers and defaults for servo fw 4.4 --- sbot/servo_board.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/sbot/servo_board.py b/sbot/servo_board.py index c1405fcf..fbcc9d4a 100644 --- a/sbot/servo_board.py +++ b/sbot/servo_board.py @@ -16,10 +16,11 @@ get_USB_identity, map_to_float, map_to_int, ) -DUTY_MIN = 500 +DUTY_MIN = 300 DUTY_MAX = 4000 -START_DUTY_MIN = 1000 -START_DUTY_MAX = 2000 +START_DUTY_MIN = 350 +START_DUTY_MAX = 1980 +NUM_SERVOS = 8 logger = logging.getLogger(__name__) BAUDRATE = 115200 # Since the servo board is a USB device, this is ignored @@ -77,7 +78,7 @@ def __init__( self._serial = SerialWrapper(serial_port, BAUDRATE, identity=initial_identity) self._servos = tuple( - Servo(self._serial, index) for index in range(12) + Servo(self._serial, index) for index in range(NUM_SERVOS) ) self._identity = self.identify()