pi-LX16A-bus/simpleservo.py at main · alecxcode/pi-LX16A-bus · GitHub

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import time
from lx16a import LX16A

# Setup:
try:
    LX16A.initialize("/dev/ttyUSB0")
except Exception as e:
    print("Initialisation ERROR")
    print(e)
    quit()

motor1 = LX16A(1)
motor2 = LX16A(2)

motor1.enable_torque()
motor1.servo_mode()

motor2.enable_torque()
motor2.servo_mode()

# Main loop:
try:
  while True:
    angle = motor1.get_physical_angle()
    time.sleep(0.05)
    print(f"angle: {angle:.2f}")

    motor1.move(240)
    time.sleep(1)

    motor2.move(240)
    time.sleep(2)

    angle = motor1.get_physical_angle()
    time.sleep(0.05)
    print(f"angle: {angle:.2f}")

    motor1.move(0)
    time.sleep(1)

    motor2.move(0)
    time.sleep(2)

except KeyboardInterrupt:
  print("Program stopped.")