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VIKRAM GARDELLA


LEAD FULL-STACK ENGINEER


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from __future__ import division
import RPi.GPIO as gpio
import time
import curses
from adafruit_servokit import ServoKit

kit = ServoKit(channels = 16)

screen = curses.initscr()
curses.noecho()
curses.cbreak()
screen.keypad(True)
screen.nodelay(True)

for i in range(16):
kit.servo[i].angle = 90

#kit.servo[x].set_pulse_width_range(min, max)

#middle and bottom apparent optimal range:
#[700, 1800] = 180 degree range approx.
#[800, 1400] so 1100 is mid angle

limb_names = ['front_left', 'front_right', 'back_left', 'back_right']
limb_motor_channels = [[0, 1, 2], [15, 14, 13], [3, 4, 5], [12, 11, 10]]
limb_index = 0

top_motor_angs = [90, 90, 90, 90]
mid_motor_angs = [90, 90, 90, 90]
bot_motor_angs = [90, 90, 90, 90]

for i in range(16):
kit.servo[i].angle = 90

try:
while True:
char = screen.getch()
if(char != -1):
#switch leg to manipulate
if(char == ord('u')):
limb_index = 0
print('Now controlling front left leg.')
elif(char == ord('i')):


 
 
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