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walking_test.py
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walking_test.py
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import time
from adafruit_motor import servo
from board import SCL, SDA
import busio
from adafruit_pca9685 import PCA9685
i2c_bus = busio.I2C(SCL, SDA)
pca = PCA9685(i2c_bus)
pca.frequency = 50
side = servo.Servo(pca.channels[0])
updown = servo.Servo(pca.channels[3])
side.angle = 180
updown.angle = 30
input()
side.angle = 0
input()
side.angle = 90
input()
def left():
for i in range(90):
side.angle = 180-i
updown.angle = 0
updown.angle = 30
def right():
for j in range(90):
side.angle = j
updown.angle = 0
updown.angle = 30
while True:
input()
left()
side.angle = 75
time.sleep(.1)
side.angle = 55
time.sleep(.1)
side.angle = 35
time.sleep(.1)
side.angle = 0
time.sleep(.1)
side.angle = 0
time.sleep(.1)
right()
'''
side.angle = 0
time.sleep(.1)
side.angle = 0
time.sleep(.1)
side.angle = 35
time.sleep(.1)
side.angle = 55
time.sleep(.1)
side.angle = 75
time.sleep(.1)
'''
pca.deinit()