Servo Controller

Control multiple servos using motor controllers with ROS2 and Python.

Description

This project provides a Python-based interface to control servos using the Pololu Maestro controller.

Requirements

Software

• Python 3.6 or higher
• Pololu Maestro Control Center (optional for configuration)

Python Dependencies

• pyserial
• rclpy (for ROS2 integration)

Installation

1. Clone the repository:

   git clone https://github.com/TheWalrus368/Servo_Controllers.git
   

2. Install Python dependencies:

   pip3 install pyserial
   pip3 install adafruit-circuitpython-lis3dh
   pip3 install adafruit-circuitpython-pca9685
   pip3 install adafruit-circuitpython-motorkit 
   

How to Use

1. Setup:

   colcon build
   source install/setup.bash
   

2. Starting the USB service

   ros2 run servo_pkg usb_servo_service
   

3. OR Starting the i2c service

   ros2 run servo_pkg i2c_servo_service
   

4. Starting the client The servo_client.py contains some sample code that controls the servo with the USB or the i2c controllers

   If one of the controllers is not connected don't try to use the method in main, it will make the other not work.

   ros2 run servo_pkg servo_client