Basic Arni movement in motors.

basics/README.md

@@ -55,3 +55,26 @@ screen -r
 ```
 
 To kill a screen session press `Ctrl-A` then `k`. You will be prompted to confirm with `y\n` whether to kill the session or not.
+
+## Memory Usage
+
+These two functions can help you determine approximate memory usage.
+
+```
+import gc
+import os
+
+def df():
+    
+    s = os.statvfs('//')
+    return ('{0} MB'.format((s[0]*s[3])/1048576))
+
+def free(full=False):
+    gc.collect()
+    F = gc.mem_free()
+    A = gc.mem_alloc()
+    T = F+A
+    P = '{0:.2f}%'.format(F/T*100)
+    if not full: return P
+    else : return ('Total:{0} Free:{1} ({2})'.format(T,F,P))
+```

motors/README.md

@@ -11,3 +11,19 @@ on [PCA9685 with Micropython](https://learn.adafruit.com/micropython-hardware-pc
 
 The git repo https://github.com/adafruit/micropython-adafruit-pca9685 is still up. Look at it's 
 [Docs](https://micropython-pca9685.readthedocs.io/en/latest/)
+
+```
+Description:
+Brand: DSSERVO
+Item: DS3218 20KG Digital Servo
+Operating Voltage: 4.8 ~ 6.8 DC Volts
+Torque: 18kg.cm(5V), 21.5kg.cm(6.8V)
+Speed: 0.16sec/60°(5V), 0.14sec/60°(6.8V)
+Dead Brand: 3μs
+Motor Type: DC Motor
+Gear Type: 25T Copper & Aluminum
+Working Frequence: 50-333Hz
+Totation: 180°(PWM 500-2500μs) / 270°(PWM 500-2500μs)
+Weight: 60 g (2.12 oz)
+Size: 40 x 20 x 40.5 mm ( 1.58 x 0.79 x 1.60 in)
+```

motors/main.py

@@ -0,0 +1,156 @@
+import machine
+import servo
+import time
+
+i2c = machine.I2C(scl=machine.Pin(22), sda=machine.Pin(21))
+
+# Tower pro MG90s
+servos = servo.Servos(i2c, address=0x40, freq=50, min_us=600, max_us=2400, degrees=180)
+
+INIT_POSITIONS = [
+    (0, 40),
+    (1, 90),
+    (2, 130),
+    (3, 90),
+    (4, 60),
+    (5, 90),
+    (6, 130),
+    (7, 90)
+]
+
+
+def init_legs():
+    for i, a, in INIT_POSITIONS:
+        servos.position(i, a)
+
+
+def tip_forward(pause=1):
+    servos.position(7, 150)
+    servos.position(1, 30)
+    time.sleep(pause)
+    init_legs()
+
+
+def tip_back(pause=1):
+    servos.position(3, 150)
+    servos.position(5, 30)
+    time.sleep(pause)
+    init_legs()
+
+
+def lean_left(pause=1):
+    servos.position(7, 150)
+    servos.position(5, 30)
+    servos.position(3, 60)
+    servos.position(1, 120)
+    time.sleep(pause)
+    init_legs()
+
+
+def lean_left(pause=1):
+    servos.position(7, 150)
+    servos.position(5, 30)
+    servos.position(3, 60)
+    servos.position(1, 120)
+    time.sleep(pause)
+    init_legs()
+
+
+def lean_right(pause=1):
+    servos.position(7, 60)
+    servos.position(5, 120)
+    servos.position(3, 150)
+    servos.position(1, 30)
+    time.sleep(pause)
+    init_legs()
+
+
+def look_left(pause=1):
+    servos.position(0, 10)
+    servos.position(2, 100)
+    servos.position(4, 30)
+    servos.position(6, 100)
+    time.sleep(pause)
+    init_legs()
+
+
+def look_right(pause=1):
+    servos.position(0, 70)
+    servos.position(2, 160)
+    servos.position(4, 90)
+    servos.position(6, 160)
+    time.sleep(pause)
+    init_legs()
+
+
+def all_move(pause=1):
+    moves = (tip_forward, tip_back, lean_left, lean_right, look_left, look_right, turn_left, turn_right, turn_right, turn_left)
+    for move in moves:
+        move(pause=pause)
+        time.sleep(0.5)
+
+
+def turn_left(pause=None):
+    servos.position(0, 10)
+    servos.position(2, 100)
+    servos.position(4, 30)
+    servos.position(6, 100)
+    time.sleep(0.1)
+    servos.position(7, 120)
+    servos.position(6, 160)
+    time.sleep(0.1)
+    servos.position(7, 90)
+    time.sleep(0.1)
+    servos.position(3, 120)
+    servos.position(2, 160)
+    time.sleep(0.1)
+    servos.position(3, 90)
+    time.sleep(0.1)
+    servos.position(5, 30)
+    servos.position(4, 90)
+    time.sleep(0.1)
+    servos.position(5, 90)
+    time.sleep(0.1)
+    servos.position(1, 30)
+    servos.position(0, 90)
+    time.sleep(0.1)
+    servos.position(1, 90)
+    time.sleep(0.1)
+    init_legs()
+
+
+def turn_right(pause=None):
+    servos.position(0, 70)
+    servos.position(2, 160)
+    servos.position(4, 90)
+    servos.position(6, 160)
+    time.sleep(0.1)
+    # front left
+    servos.position(1, 30)
+    servos.position(0, 10)
+    time.sleep(0.1)
+    servos.position(1, 90)
+    time.sleep(0.1)
+    # back right
+    servos.position(5, 30)
+    servos.position(4, 30)
+    time.sleep(0.1)
+    servos.position(5, 90)
+    time.sleep(0.1)
+    # front right
+    servos.position(7, 120)
+    servos.position(6, 60)
+    time.sleep(0.1)
+    servos.position(7, 90)
+    time.sleep(0.1)
+    # back left
+    servos.position(3, 120)
+    servos.position(2, 60)
+    time.sleep(0.1)
+    servos.position(3, 90)
+    time.sleep(0.1)
+
+    init_legs()
+
+
+init_legs()