From e9cc111db4538011cdf0ab337e3caa5bb2bb94ff Mon Sep 17 00:00:00 2001
From: Tristan Hearn <tristanhearn@gmail.com>
Date: Wed, 8 May 2013 18:33:30 -0400
Subject: [PATCH] fixed some servo bugs

---
 Arduino/arduino.py | 37 +++++++++++++++++--------------------
 README.md          | 18 +++++++++---------
 examples.py        | 13 +++++++++----
 3 files changed, 35 insertions(+), 33 deletions(-)

diff --git a/Arduino/arduino.py b/Arduino/arduino.py
index ec317d7..f11ccde 100644
--- a/Arduino/arduino.py
+++ b/Arduino/arduino.py
@@ -380,18 +380,19 @@ class Servos(object):
         
     def attach(self,pin,min = 544, max = 2400):     
         cmd_str=''.join(["@sva%",str(pin),"%",str(min),"%",str(max),"$!"])
-        try:
+        
+        while True:
             self.sr.write(cmd_str)
             self.sr.flush()
-        except:
-            pass
-        rd = self.sr.readline().replace("\r\n","")
-        try:
-            position = int(rd)
-            self.servo_pos[pin] = position
-            return 1
-        except:
-            return 0
+                
+            rd = self.sr.readline().replace("\r\n","")
+            if rd:
+                break
+            else:
+                print "trying to attach servo to pin",pin
+        position = int(rd)
+        self.servo_pos[pin] = position
+        return 1
 
      
     def detach(self,pin):     
@@ -407,20 +408,16 @@ class Servos(object):
     def write(self,pin,angle):     
         position = self.servo_pos[pin]
         cmd_str=''.join(["@svw%",str(position),"%",str(angle),"$!"])
-        try:
-            self.sr.write(cmd_str)
-            self.sr.flush()
-        except:
-            pass
+        
+        self.sr.write(cmd_str)
+        self.sr.flush()
 
    
     def writeMicroseconds(self,pin,uS):     
         cmd_str=''.join(["@svw%",str(position),"%",str(uS),"$!"])
-        try:
-            self.sr.write(cmd_str)
-            self.sr.flush()
-        except:
-            pass
+        
+        self.sr.write(cmd_str)
+        self.sr.flush()
 
    
     def read(self,pin):
diff --git a/README.md b/README.md
index a3a7442..0771384 100644
--- a/README.md
+++ b/README.md
@@ -116,18 +116,18 @@ board.analogWrite(11) #Set analog value (PWM) based on analog measurement
 **Servo Library Functionality**
 Support is included for up to 8 servos. 
 
-- `Arduino.Servo.attach(pin, min = 544, max = 2400)` Create servo instance. Only 8 servos can be used at one time. 
-- `Arduino.Servo.read(pin)` Returns the angle of the servo attached to the specified pin
-- `Arduino.Servo.write(pin, angle)` Move an attached servo on a pin to a specified angle
-- `Arduino.Servo.writeMicroseconds(pin, uS)` Write a value in microseconds to the servo on a specified pin
-- `Arduino.Servo.detach(pin)` Detaches the servo on the specified pin
+- `Arduino.Servos.attach(pin, min = 544, max = 2400)` Create servo instance. Only 8 servos can be used at one time. 
+- `Arduino.Servos.read(pin)` Returns the angle of the servo attached to the specified pin
+- `Arduino.Servos.write(pin, angle)` Move an attached servo on a pin to a specified angle
+- `Arduino.Servos.writeMicroseconds(pin, uS)` Write a value in microseconds to the servo on a specified pin
+- `Arduino.Servos.detach(pin)` Detaches the servo on the specified pin
 
 ```python
 #Servo example
-board.Servo.attach(9) #declare servo on pin 9
-board.Servo.write(9, 0) #move servo on pin 9 to 0 degrees
-print board.Servo.read(9) # should be 0
-board.Servo.detach(9) #free pin 9
+board.Servos.attach(9) #declare servo on pin 9
+board.Servos.write(9, 0) #move servo on pin 9 to 0 degrees
+print board.Servos.read(9) # should be 0
+board.Servos.detach(9) #free pin 9
 ```
 
 **Software Serial Functionality**
diff --git a/examples.py b/examples.py
index 8051b3c..efe1f67 100644
--- a/examples.py
+++ b/examples.py
@@ -71,7 +71,12 @@ def LCD(tx,baud,ssbaud,message, port=""):
 
 
 if __name__=="__main__":
-    Blink(13,9600)
-    #LCD(5,9600,9600," test ")
-    #adjustBrightness(5,11,9600)
-    #softBlink(11,9600)
\ No newline at end of file
+    a = Arduino('9600', port="/dev/tty.usbserial-A700e08i")
+    print a.Servos.attach(2),"attach"
+    import time
+    i = 0
+    while True:
+        a.Servos.write(2,10*i)
+        time.sleep(.1)
+        print a.Servos.read(2),10*i
+        i+=1
\ No newline at end of file