How to visualise servo behaviour#

Visualise the relationship between pulse-widths and angles#

A Jupyter Notebook is included, to help visualise the relationship between pulse-widths and angles, using the same numpy.polyfit() as used in the BrachioGraph:

'Pulse-widths to angles'

To run the Notebook, you’ll first need to install Jupyter Lab (it’s not included in the provided requirements.txt) with:

pip install jupyterlab

Then launch it with:

jupyter lab pulse_widths.ipynb

The values used in the Notebook are exactly as provided for servo_1_angle_pws and servo_2_angle_pws in an actual BrachioGraph definition, for example:

servo_angle_pws = [
    [-162, 2490],
    [-144, 2270],
    [-126, 2070],
    [-108, 1880],
    [ -90, 1680],
    [ -72, 1540],
    [ -54, 1360],
    [ -36, 1190],
    [ -18, 1020],
    [   0,  830],
    [  18,  610],
]