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Author | SHA1 | Date | |
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80b911dd8d | |||
e261452350 | |||
0d84232a56 | |||
e329c893d7 |
6
software/android/.idea/kotlinc.xml
generated
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6
software/android/.idea/kotlinc.xml
generated
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@ -0,0 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="KotlinJpsPluginSettings">
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<option name="version" value="1.6.21" />
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</component>
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</project>
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@ -3,7 +3,7 @@
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# SPDX-License-Identifier: MIT
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#
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# MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
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# by Cole Deck
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# by Amelia Deck
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# Based on adafruit_motor.py as well
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"""
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@ -152,7 +152,7 @@ class pololuservo:
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self._duty_range = max_pulse - min_pulse
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self.duty_cycle = 0
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print("init servo", ch)
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pca.setAccel(ch, 10)
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pca.setAccel(ch, 15)
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pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
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time.sleep(0.1)
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pca.setAccel(ch, 0)
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@ -49,7 +49,7 @@ class BluetoothServer(Thread):
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self.cmd_queue = out_cmd_queue
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with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
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with open('config.json', 'r') as read_file:
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self.config = json.load(read_file)
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try:
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@ -38,9 +38,9 @@
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"movementInterval": 5,
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"movementSwitchDuration": 150,
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"leg0Offset": [
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0,
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10,
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25
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10,
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30
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],
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"leg0Scale": [
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1,
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@ -48,29 +48,29 @@
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-1
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],
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"leg1Offset": [
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-1.0,
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8,
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-6
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15,
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-20,
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35
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],
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"leg1Scale": [
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1,
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1,
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1
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-1,
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-1
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],
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"leg2Offset": [
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1.0,
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12.0,
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1.0
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-3,
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10,
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20
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],
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"leg2Scale": [
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1,
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1,
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1
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-1,
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-1
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],
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"leg3Offset": [
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-3,
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12.0,
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-6.0
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7,
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15,
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-10
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],
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"leg3Scale": [
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1,
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@ -78,9 +78,9 @@
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1
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],
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"leg4Offset": [
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-6,
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2,
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-6.0
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15,
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10,
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5
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],
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"leg4Scale": [
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1,
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@ -88,9 +88,9 @@
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1
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],
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"leg5Offset": [
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0,
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-7,
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10,
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-40
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-30
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],
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"leg5Scale": [
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1,
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@ -1,4 +1,4 @@
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#!python
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#!/usr/bin/python3
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#
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# 2021 - PRESENT Zhengyu Peng
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# Website: https://zpeng.me
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@ -116,39 +116,39 @@ class Hexapod(Thread):
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self.mount_position[:, 1] = self.mount_y
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# Objects
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self.pca_right = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
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#self.pca_left = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
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self.pca_left = self.pca_right
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self.pca_right = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", frequency=0x0c)
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self.pca_left = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0", frequency=0x0d)
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#self.pca_left = self.pca_right
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self.legs = [
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# front right
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Leg(0,
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[self.pca_left.servo[2], self.pca_left.servo[1],
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self.pca_left.servo[0]],
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[self.pca_left.servo[0], self.pca_left.servo[1],
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self.pca_left.servo[2]],
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correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
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# center right
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Leg(1,
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[self.pca_left.servo[8], self.pca_left.servo[7],
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self.pca_left.servo[6]],
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[self.pca_left.servo[3], self.pca_left.servo[4],
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self.pca_left.servo[5]],
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correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
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# rear right
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Leg(2,
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[self.pca_left.servo[12], self.pca_left.servo[13],
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self.pca_left.servo[14]],
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[self.pca_left.servo[6], self.pca_left.servo[7],
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self.pca_left.servo[8]],
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correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
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# rear left
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Leg(3,
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[self.pca_right.servo[15], self.pca_right.servo[16],
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self.pca_right.servo[17]],
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[self.pca_right.servo[6], self.pca_right.servo[7],
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self.pca_right.servo[8]],
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correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
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# center left
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Leg(4,
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[self.pca_right.servo[9], self.pca_right.servo[10],
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self.pca_right.servo[11]],
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[self.pca_right.servo[3], self.pca_right.servo[4],
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self.pca_right.servo[5]],
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correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
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# front left
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Leg(5,
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[self.pca_right.servo[5], self.pca_right.servo[4],
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self.pca_right.servo[3]],
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[self.pca_right.servo[0], self.pca_right.servo[1],
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self.pca_right.servo[2]],
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correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
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# self.leg_0.reset(True)
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@ -47,7 +47,7 @@ class TCPServer(Thread):
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self.cmd_queue = out_cmd_queue
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with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
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with open('config.json', 'r') as read_file:
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self.config = json.load(read_file)
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self.ip = '0.0.0.0'
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16
software/raspberry pi/test.py
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16
software/raspberry pi/test.py
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@ -0,0 +1,16 @@
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import maestro
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servo = maestro.Controller()
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import time
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print("1")
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for i in range(18):
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servo.setAccel(i,10) #set servo 0 acceleration to 4
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servo.setSpeed(i,50) #set speed of servo 1
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servo.setTarget(i,6000) #set servo to move to center position
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time.sleep(1)
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#servo.setTarget(0,6000)
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#x = servo.getPosition(1) #get the current position of servo 1
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print("5")
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#servo.close()
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print("6")
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