Changed structure

motor.py

@@ -1,11 +1,5 @@
 """Helpers for building moving mirrors."""
 
-from adafruit_servokit import ServoKit
-
-class Board:
-    def __init__(self, channels=16, frequency=50):
-        self.kit = ServoKit(channels=channels, frequency=frequency)
-
 class Motor:
     """Model a type of servo motor."""
 
@@ -13,42 +7,40 @@ class Motor:
     MAX_PULSE = 2500
     MIN_PULSE = 500
     COVERAGE = 180 # Total degree of freedom in degrees
-    AREA = MAX_PULSE - MIN_PULSE
-    OFFSET = 2 # In degrees a constant to be added
+    OFFSET = 0 # In degrees a constant to be added
     SCALE = 1 # Scaling
 
     # Used for ids
     count = 0
 
-    def __init__(self, pi, pin, angle=0):
+    def __init__(self, board, angle=0):
+        self.board = board
         self.id = Motor.count; Motor.count += 1
-        self.pi = pi # Local pi instance
 
-        self.pin = pin
         self.angle = angle
         self.offset = Motor.OFFSET # Fine grained controls over every motor
+        self.coverage = Motor.COVERAGE
         self.scale = Motor.SCALE
 
         # Initialization
         self.set()
 
-    def angle_to_pulse(self, angle):
-        return min(max(Motor.MIN_PULSE, (Motor.MIN_PULSE + Motor.AREA * angle/Motor.COVERAGE + self.offset) * self.scale), Motor.MAX_PULSE)
-
     # Update the motor position on hardware
     def set(self):
-        self.pi.set_servo_pulsewidth(self.pin, self.angle_to_pulse(self.angle))
+        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 = 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 __del__(self):
-        self.pi.set_servo_pulsewidth(self.pin, 0)
-
     def inc(self, inc):
         self.angle += inc
         self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip