Creating a program in Linux to control Wall-E's arms

You now know that you can talk to your servo motor controller, and move your servos. In this section you'll create a Python program that will let you talk to your servos to move them to specific angles.

Let's start with a simple program that will set Wall-E's arms to an initial position. To access the serial port, you'll need to make sure you have the Python serial library. Type sudo apt-get install python-serial.

Now you'll want to enter your program. Here is the code:

#!/usr/bin/python 
import serial 
import time 
 
def setAngle(ser, channel, angle): 
    minAngle = 0.0 
    maxAngle = 180.0 
    minTarget = 256.0 
    maxTarget = 13120.0 
    scaledValue = int((angle/((maxAngle - minAngle) / (maxTarget - minTarget))) + minTarget) 
    commandByte = chr(0x84) 
    channelByte = chr(channel) 
    lowTargetByte = chr(scaledValue & 0x7F) 
    highTargetByte = chr(scaledValue...