MeArm Python

mearm.py

import os
import math
import pigpio

pi = pigpio.pi()

class Servo:
  def __init__(self, config):
    self.pin = config['pin']
    self.min = config['min']
    self.max = config['max']
    self.minAngle = config['minAngle']
    self.maxAngle = config['maxAngle']

  def moveTo(self, angle):
    self.moveToAngle(angle)

  def moveBy(self, angle):
    newAngle = self.currentAngle + angle
    self.moveToAngle(newAngle)

  def moveToCentre(self):
    centre = self.minAngle + (self.maxAngle - self.minAngle)/2
    self.moveToAngle(centre)

  def moveToAngle(self, angle):
    if angle > self.maxAngle:
      angle = self.maxAngle
    if angle < self.minAngle:
      angle = self.minAngle
    self.currentAngle = angle
    self.updateServo()

  def updateServo(self):
    pulseWidth = math.floor(self.min + ((float(self.currentAngle - self.minAngle) / float(self.maxAngle - self.minAngle)) * (self.max - self.min)));
    pi.set_servo_pulsewidth(self.pin, pulseWidth)

class MeArm:
  def __init__(self):
    self.base =  Servo({'pin': 4, 'min': 530, 'max': 2400, 'minAngle': -90, 'maxAngle': 90});
    self.lower = Servo({'pin': 17, 'min': 530, 'max': 1450, 'minAngle': 0, 'maxAngle': 90});
    self.upper = Servo({'pin': 22, 'min': 530, 'max': 2000, 'minAngle': 0, 'maxAngle': 135});
    self.grip =  Servo({'pin': 10, 'min': 1400, 'max': 2400, 'minAngle': 0, 'maxAngle': 90});

  def moveToCentres(self):
    self.base.moveToCentre()
    self.lower.moveToCentre()
    self.upper.moveToCentre()
    self.grip.moveToCentre()

myMeArm = MeArm()
myMeArm.moveToCentres()
myMeArm.grip.moveTo(0)
myMeArm.base.moveTo(-90)
myMeArm.base.moveTo(90)
myMeArm.grip.moveTo(90)