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Getting Started with Raspberry Pi Zero by Richard Grimmett

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Creating a program in Linux to control your quadruped

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 make your legged mobile robot's servos go to 90 degrees (which should be somewhere close to the middle of the 0 to 180 degrees you can set.) To access the serial port, you'll need to make sure that you have the Python serial library. If you don't, then type sudo apt-get install python-serial. After you have installed the serial library, you can run your program by typing sudo python quad.py.

This particular controller uses two bytes of information, so ...

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