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 the code in the setAngle function will translate the input of the channel and angle into numbers that the controller can understand. For more specifics, see http://www.pololu.com/docs/0J40. Here is the code:

Here is an explanation of the code: