Feature/servo fixes

config/servos.yml

@@ -46,7 +46,7 @@ servos:
       id: 8
       pin: 4
       range: [0, 180]
-      start: 180
+      start: 100
     - name: "hip_r"
       id: 9
       pin: 5

modules/actuators/servo.py

@@ -41,7 +41,7 @@ def __init__(self, **kwargs):
         self.range = kwargs.get('range')
         self.power = kwargs.get('power', False)
 
-        self.start = kwargs.get('start_pos', 50)
+        self.start = kwargs.get('start', 50)
         self.pos = self.translate(self.start)
         self.buffer = kwargs.get('buffer', 0)  # PWM amount to specify as acceleration / deceleration buffer
         self.delta = kwargs.get('delta', 1.5)  # amount of change in acceleration / deceleration (as a multiple)

modules/animate.py

@@ -57,3 +57,5 @@ def animate(self, action):
                     led.on()
                 else:
                     led.off()
+            elif 'piservo/move' == cmd:  # New condition for piservo
+                self.publish(cmd, angle=args[0])

modules/personality.py

@@ -67,10 +67,8 @@ def random_animation(self):
             'head_shake',
             'head_left',
             'head_right',
-            'wake',
-            'look_down',
-            'look_up',
-            'celebrate'
+            # 'look_down',
+            'look_up'
         ]
         animation = choice(animations)
         self.log(f"Random animation triggered: {animation}")