controlling and tracking Servo position

controlling and tracking Servo position

from RPIO import PWM

CServo = PWM.Servo()

# move servo to your desired default position and give it time to arrive there
CServo.set_servo(pinCServo, 1500)
sleep(1)


fDoorServo = PWM.Servo()
garageDoorServo = PWM.Servo()

# move servo to your desired default position and give it time to arrive there
garageDoorServo.set_servo(pingarageDoorServo, 800)
sleep(1)
garageDoorServo.stop_servo(pingarageDoorServo)

# move servo to your desired default position and give it time to arrive there
fDoorServo.set_servo(pinFrontDoorServo, 800)
sleep(1)
fDoorServo.stop_servo(pinFrontDoorServo)

...........................

# if payload is a command
elif payload == camera_Right:
            #tracking servo position
            saveServoPosition.setPositionRight()            
            CServo.set_servo(pinCServo, saveServoPosition.getPosition() )
            sleep(1)
            CServo.stop_servo(pinCServo)
           
        
        elif payload == camera_Left:
             #tracking servo position
            saveServoPosition.setPositionLeft()            
            CServo.set_servo(pinCServo, saveServoPosition.getPosition() )
            sleep(1)
            CServo.stop_servo(pinCServo)
            #pubnub.publish().channel(FEEDBACKS).message(camera_Left).async(my_publish_callback)
        
        elif payload == garageDoor_OPEN:
            garageDoorServo.set_servo(pingarageDoorServo, 1600)
            sleep(1)
            garageDoorServo.stop_servo(pingarageDoorServo)
            #pubnub.publish().channel(FEEDBACKS).message(garageDoor_OPEN).async(my_publish_callback)
        
        elif payload == garageDoor_CLOSE:
            garageDoorServo.set_servo(pingarageDoorServo, 800)
            
            sleep(1)
            garageDoorServo.stop_servo(pingarageDoorServo)
            #pubnub.publish().channel(FEEDBACKS).message(garageDoor_CLOSE).async(my_publish_callback)
        
        elif payload == frontDoor_OPEN:
            fDoorServo.set_servo(pinFrontDoorServo, 2000)
            sleep(1)
            fDoorServo.stop_servo(pinFrontDoorServo)
            #pubnub.publish().channel(FEEDBACKS).message(frontDoor_OPEN).async(my_publish_callback)
        
        elif payload == frontDoor_CLOSE:
            fDoorServo.set_servo(pinFrontDoorServo, 800)
            sleep(1)
            fDoorServo.stop_servo(pinFrontDoorServo)
            
            
  # this is how to track servo position and avoid it from reaching position where it will start jittering
  class SaveServoPosition:
    defaultPosition = 1700
    
    def setPositionRight(self):
        
        # dont allow it to move beyond 2400
        if self.defaultPosition == 2300:
            self.defaultPosition = 2300
        else:
            self.defaultPosition += 100    
        
    def setPositionLeft(self):
    
        # dont allow it to move beyond 600
        if self.defaultPosition == 600:
            self.defaultPosition = 600
        else:
            self.defaultPosition -= 100
        
    def getPosition(self):
        return self.defaultPosition
    
saveServoPosition =  SaveServoPosition()