first test

objects/motor.py

@@ -0,0 +1,47 @@
+"""Helpers for building moving mirrors."""
+
+class Motor:
+    """Model a type of servo motor."""
+
+    # Default vaules for every motor
+    MAX_PULSE = 2500
+    MIN_PULSE = 500
+    COVERAGE = 180 # Total degree of freedom in degrees
+    OFFSET = 0 # In degrees a constant to be added
+    SCALE = 1 # Scaling
+
+    # Used for ids
+    count = 0
+
+    def __init__(self, board, angle=0):
+        self.board = board
+        self.id = Motor.count; Motor.count += 1
+
+        self.angle = angle
+        self.offset = Motor.OFFSET # Fine grained controls over every motor
+        self.coverage = Motor.COVERAGE
+        self.scale = Motor.SCALE
+
+        # Initialization
+        self.set()
+
+    # Update the motor position on hardware
+    def set(self):
+        self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset
+
+    def safe_set_angle(angle=0, sleep=0.01, offset=1):
+        kit.servo[NUM].angle = angle + offset
+        time.sleep(sleep)
+        kit.servo[NUM].angle = angle
+
+    def set_angle(self, angle):
+        self.angle = min(self.coverage, max(0, angle)) # Double check bad
+        self.set()
+
+    def __str__(self):
+        return f"Motor {self.id} is set at {self.angle} degrees."
+
+    def inc(self, inc):
+        self.angle += inc
+        self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip
+        self.set()