First walk cycle, 6 futaba 3003 servos, arduino, python

Biped robot code,

Example python code to talk to the Arduino code.

#!/usr/bin/python
import time, sys, os, serial

#set up the serial port for action (0==COM1==ttyS0)
ser=serial.Serial('/dev/ttyUSB0')
ser.baudrate=9600
packet=0

def setpos(n,angle):
packet=chr(255)+chr(n)+chr(angle)
ser.write(packet)



print "Please, give me a direction F for forward,L for left turn,R for right turn"
print "Capitol F for run forward"

readkey = None
while readkey != "x":
readkey=input('Need servo number 0-8:')

print "Result:"+str(readkey)
if (readkey != "x"):
pos=input('Need position:' )
setpos(readkey,pos)


if readkey == "x":
print "End Of Line!"

Arduino servo controller code, thanks to principallabs for the baseline..

/*
 * MultipleSerialServoControl
 * --------------
 *
 * Uses the Arduino Serial library
 *  (http://arduino.cc/en/Reference/Serial)
 * and the Arduino Servo library
 *  (http://arduino.cc/en/Reference/Servo)
 * to control multiple servos from a PC using a USB cable.
 *
 * Designed for use with the Python servo.py module
 *  (http://principialabs.com/arduino-python-4-axis-servo-control/)
 *
 * REQUIRED: Arduino 0017 or higher
 *   Control up to 48 servos with Arduino Mega!
 *   See the "TO ADD SERVOS:" comments below.
 *
 * Created 23 December 2009
 * copyleft 2009 Brian D. Wendt
 * http://principialabs.com/
 *
 */
 
// Import the Arduino Servo library
#include  
#define NBR_SERVOS 8
#define FIRST_SERVO_PIN 2

// Create a Servo object for each servo
 
 
// TO ADD SERVOS:
//   Servo servo5;
//   etc...
 
// Common servo setup values
int minPulse = 700;   // minimum servo position, us (microseconds)
int maxPulse = 2300;  // maximum servo position, us
// 
// User input for servo and position
int userInput[3];    // raw input from serial buffer, 3 bytes
int startbyte;       // start byte, begin reading input
int pos = 0;             // servo angle 0-180
int servo;
int i;               // iterator
int v;
Servo Servos[NBR_SERVOS];
int lpos[NBR_SERVOS];
void setup() 
{ 
  for( int i =0; i < NBR_SERVOS; i++)
  {
    Servos[i].attach( FIRST_SERVO_PIN +i);
  } 

  // Open the serial connection, 9600 baud
  Serial.begin(9600);
  //Sweep test
  Serial.println ("Sweep test");
  for( int i=0; i
    {
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(0);
        Servos[i].write(0);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(45);
        Servos[i].write(45);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(90);
        Servos[i].write(90);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(135);
        Servos[i].write(135);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(180);
        Servos[i].write(180);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
        Serial.print("Servo,");
        Serial.print(i);
        Serial.print(",");
        Serial.println(90);
        Servos[i].write(90);              // tell servo to go to position in variable 'pos' 
        delay(1000);
     lpos[i]=pos; 
    }
int i = 0;
} 
 
void loop() 
{ 
  // Wait for serial input (min 3 bytes in buffer)
  if (Serial.available() > 2) {
    // Read the first byte
    startbyte = Serial.read();
    // If it's really the startbyte (255) ...
    Serial.println ("checking serial");
    if (startbyte == 255) {
      Serial.print ("Got servo cmd");
      // ... then get the next two bytes
      for (i=0;i<2;i++) {
        userInput[i] = Serial.read();
      }
      // First byte = servo to move?
      servo = userInput[0];
      // Second byte = which position?
      pos = userInput[1];
      // Packet error checking and recovery
      if (pos == 255) { servo = 255; }

      // Assign new position to appropriate servo
      if (servo <= NBR_SERVOS)
      {
        Servos[servo].write(pos);
        delay (15);
        lpos[servo]=pos;
        Serial.print (startbyte); 
        Serial.print (",");
        Serial.print (servo);
        Serial.print (",");
        Serial.print (pos);
        Serial.println ("Sent");
        
      }
    }
    if (startbyte == 254) {
      // ... state stub       
    }
    }

}
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