test

modular_robot_physical/revolve2/modular_robot_physical/physical_interfaces/_physical_interface.py

@@ -5,12 +5,12 @@ class PhysicalInterface(ABC):
     """Abstract implementation for interfacing with hardware."""
 
     @abstractmethod
-    def set_servo_target(self, pin: int, target: float) -> None:
+    def set_servo_targets(self, pins: list[int], targets: list[float]) -> None:
         """
-        Set the target for a single Servo.
+        Set the target for multiple servos.
 
-        :param pin: The GPIO pin number.
-        :param target: The target angle.
+        :param pin: The GPIO pin numbers.
+        :param target: The target angles.
         """
 
     @abstractmethod

modular_robot_physical/revolve2/modular_robot_physical/physical_interfaces/v2/_v2_physical_interface.py

@@ -81,19 +81,23 @@ def __init__(self, debug: bool, dry: bool, careful: bool) -> None:
             self._robohat.do_buzzer_beep()
         self._robohat.set_servo_direct_mode(careful)
 
-    def set_servo_target(self, pin: int, target: float) -> None:
+    def set_servo_targets(self, pins: list[int], targets: list[float]) -> None:
         """
-        Set the target for a single Servo.
+        Set the target for multiple servos.
 
-        :param pin: The GPIO pin number.
-        :param target: The target angle.
+        :param pin: The GPIO pin numbers.
+        :param target: The target angles.
         """
-        if self._debug:
-            print(f"{pin:03d} | {target}")
+        for pin, target in zip(pins, targets):
+            if self._debug:
+                print(f"{pin:03d} | {target}")
 
         if not self._dry:
-            angle = target / (2 * math.pi) * 180 + 90
-            self._robohat.set_servo_single_angle(pin, angle)
+            all_angles = [0.0] * 32
+            angles = [target / (2 * math.pi) * 180 + 90 for target in targets]
+            for pin, angle in zip(pins, angles):
+                all_angles[pin] = angle
+            self._robohat.set_servo_multiple_angles(all_angles)
 
     def enable(self) -> None:
         """Start the robot."""