Adding experiments servo file for galileo 2

experiments/galileo2/servo.py

@@ -8,7 +8,7 @@
 button = mraa.Gpio(8)
 button.dir(mraa.DIR_IN)
 
-servo = pyupm_servo.Servo(5)
+servo = pyupm_servo.ES08A(8)
 
 flag = 0
 

experiments/galileo2/servo_rimolive.py

@@ -0,0 +1,47 @@
+import pingo
+
+import mraa
+
+import time
+
+class Servo(object):
+
+    MAX_PERIOD = 7968
+    MAX_ANGLE = 180.0
+    current_angle = 0
+
+    def __init__(self, pin, min_pulse=600, max_pulse=2500):
+        pin.mode = pingo.OUT
+	self.pin = pin
+	self.min_pulse = min_pulse
+	self.max_pulse = max_pulse
+
+    def setAngle(self, angle):
+        period = (self.max_pulse - self.min_pulse) / self.MAX_ANGLE
+
+	cycles = int(100.0 * (abs(self.current_angle - angle) / self.MAX_ANGLE))
+	servo = mraa.Pwm(self.pin.location)
+	for cycle in range(0,cycles):
+            servo.period_us(self.MAX_PERIOD)
+            servo.pulsewidth_us(self.calculatePulse(angle))
+        self.current_angle = angle
+        print 'pulse = ', self.calculatePulse(angle), ', cycles = ', cycles
+
+    def calculatePulse(self, value):
+        if value > self.MAX_ANGLE:
+            return self.max_pulse
+        if value < 0:
+            return self.min_pulse
+        return int(float(self.min_pulse) + (float((value / self.MAX_ANGLE)) * (float(self.max_pulse) - float(self.min_pulse))))
+
+
+if __name__ == '__main__':
+    board = pingo.detect.MyBoard()
+    pin = board.pins[3]
+    servo = Servo(pin)
+    #servo.setAngle(90)
+    while True:
+        servo.setAngle(0)
+        time.sleep(1)
+        servo.setAngle(90)
+        time.sleep(1)