Hands-On ROS for Robotics Programming

Servo package unit test

The test consists of placing the distance sensor with respect to the servomotor shaft in an angular position that covers the entire front view of GoPiGo3, from left to right. All the explanations and code are in a Jupyter notebook located at ./Chapter2_Unit_Tests/DI-servo_package/servoCalibration.ipynb:

1. First, we create the servo object from the EasyGoPiGo3 class. To do this, we need to import the library and instantiate GoPiGo3:

import easygopigo3 as easymy_gpg3 = easy.EasyGoPiGo3()

2. Then we initiate the servo:

servo = my_gpg3.init_servo()

3. We check that we are able to fully rotate the servo. You should have unmounted the sensor to prevent collisions with the robot's chassis:

servo.rotate_servo(0) # This is 0º ...