hexapod_ng/python/test_servo.py

import sys
import time
import board
import busio
import json

from adafruit_motor import servo
from adafruit_pca9685 import PCA9685

filename = sys.argv[1]
with open(filename, "r") as f:
    calibration = json.load(f)
    
print(calibration)

i2c = busio.I2C(board.SCL, board.SDA)
pca = PCA9685(i2c)

pca.frequency = 50
servo_pwm = pca.channels[0]

servo = servo.Servo(pca.channels[0], actuation_range = 180, min_pulse=round(calibration['intercept']), max_pulse=round(calibration['intercept'] + 180 * calibration['slope']))

servo.angle = 90
time.sleep(2)
servo.angle = 0
time.sleep(2)
servo.angle = 180
time.sleep(2)
servo.angle = 90