Maintain consistency in servo motor codes

25 files changed, 139 insertions, 162 deletions

diff --git a/tools/arduino-firmware/arduino-firmware.ino b/tools/arduino-firmware/arduino-firmware.ino
index 5d7e9ca..9f7a8ae 100644
--- a/tools/arduino-firmware/arduino-firmware.ino
+++ b/tools/arduino-firmware/arduino-firmware.ino
@@ -197,7 +197,7 @@ void loop() {
        if (val==49 || val==50) { //servo 1 or 2
           pin=val-48; //number of the servo
           if (pin==1) {
-            servo1.attach(9); 
+            servo1.attach(5); 
             servo1.write(0);           
 //            agv=servo1.read();
 //            Serial.println(agv);
diff --git a/tools/openmodelica/windows/Arduino.mo b/tools/openmodelica/windows/Arduino.mo
index 4958cb7..54c0628 100644
--- a/tools/openmodelica/windows/Arduino.mo
+++ b/tools/openmodelica/windows/Arduino.mo
@@ -909,11 +909,11 @@ Arduino.SerialCommunication.Functions.<b>ieeesingle2num</b>(hexa);
             else
               sComm.cmd_servo_attach(1, 1) "To attach the motor to pin 9 of servo1";
               sComm.cmd_servo_move(1, 1, 30) "tell servo to rotate by 30 degrees";
-              sComm.delay(3000);
+              sComm.delay(1000);
             end if;
             c_ok := sComm.close_serial(1) "To close the connection safely";
           end when;
-//sComm.cmd_servo_detach(1,1);
+          sComm.cmd_servo_detach(1, 1);
           annotation(
             experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
         end servo_init;
@@ -965,7 +965,6 @@ Arduino.SerialCommunication.Functions.<b>ieeesingle2num</b>(hexa);
               sComm.cmd_servo_move(1, 1, 45) "Move the servo to 45 degree";
               sComm.delay(1000) "be there for one second";
               sComm.cmd_servo_detach(1, 1) "Detach the motor";
-              sComm.delay(1000);
             end if;
             c_ok := sComm.close_serial(1) "To close the connection safely";
           end when;
@@ -979,27 +978,27 @@ Arduino.SerialCommunication.Functions.<b>ieeesingle2num</b>(hexa);
           import strm = Modelica.Utilities.Streams;
           Integer ok(fixed = false);
           Integer c_ok(fixed = false);
-          Integer analog_in(fixed = false);
+          Integer val(fixed = false);
         algorithm
           when initial() then
             ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
-            sComm.delay(2000);
             if ok <> 0 then
               strm.print("Check the serial port and try again");
             else
               sComm.cmd_servo_attach(1, 1) "Attach the motor to pin 9";
               sComm.delay(2000);
-              for i in 1:5000 loop
-                analog_in := sComm.cmd_analog_in(1, 2) "Read potentiometer value";
-                sComm.cmd_servo_move(1, 1, analog_in) "Command the servo motor";
-                sComm.delay(1000) "sleep for 1000 milliseconds";
+              for i in 1:50 loop
+                val := sComm.cmd_analog_in(1, 2) "Read potentiometer value";
+                val := integer(val * 180 / 1023);
+                sComm.cmd_servo_move(1, 1, val) "Command the servo motor";
+                sComm.delay(500) "sleep for 1000 milliseconds";
               end for;
               sComm.cmd_servo_detach(1, 1) "Detach the motor";
             end if;
-            analog_in := sComm.math_floor(analog_in * (180 / 1023)) "Scale Potentiometer value to 0-180";
             c_ok := sComm.close_serial(1) "To close the connection safely";
           end when;
-//5,000 itterations
+//        strm.print(String(integer(analog_in * 180 / 1023)));
+//    analog_in := sComm.math_floor(analog_in * (180 / 1023)) "Scale Potentiometer value to 0-180";
 //strm.print(String(analog_in));
           annotation(
             experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
diff --git a/user-code/servo/OpenModelica/servo-init.mo b/user-code/servo/OpenModelica/servo-init.mo
index b9e4367..2a50689 100644
--- a/user-code/servo/OpenModelica/servo-init.mo
+++ b/user-code/servo/OpenModelica/servo-init.mo
@@ -6,17 +6,17 @@ model servo_init "Rotate Servo Motor "
   Integer c_ok(fixed = false);
 algorithm
   when initial() then
-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";
+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
     if ok <> 0 then
       strm.print("Check the serial port and try again");
     else
-      sComm.delay(2000);
       sComm.cmd_servo_attach(1, 1) "To attach the motor to pin 9 of servo1";
       sComm.cmd_servo_move(1, 1, 30) "tell servo to rotate by 30 degrees";
-      sComm.delay(3000);
+      sComm.delay(1000);
     end if;
     c_ok := sComm.close_serial(1) "To close the connection safely";
   end when;
-  //sComm.cmd_servo_detach(1,1);
-  annotation(experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
-end servo_init;
\ No newline at end of file
+  sComm.cmd_servo_detach(1, 1);
+  annotation(
+    experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
+end servo_init;
diff --git a/user-code/servo/OpenModelica/servo-loop.mo b/user-code/servo/OpenModelica/servo-loop.mo
index c3b083b..4e02780 100644
--- a/user-code/servo/OpenModelica/servo-loop.mo
+++ b/user-code/servo/OpenModelica/servo-loop.mo
@@ -7,11 +7,10 @@ model servo_loop "Rotate servo motor by 20 degrees 10 times"
   Integer angle(fixed = true);
 algorithm
   when initial() then
-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";
+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
     if ok <> 0 then
       strm.print("Check the serial port and try again");
     else
-      sComm.delay(2000);
       sComm.cmd_servo_attach(1, 1) "Attach motor to pin 9. 1 means pin 9.";
       sComm.delay(2000);
       angle := 20 "Angle by which it has to move";
@@ -23,5 +22,6 @@ algorithm
     end if;
     c_ok := sComm.close_serial(1) "To close the connection safely";
   end when;
-  annotation(experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
-end servo_loop;
\ No newline at end of file
+  annotation(
+    experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
+end servo_loop;
diff --git a/user-code/servo/OpenModelica/servo-reverse.mo b/user-code/servo/OpenModelica/servo-reverse.mo
index 4374860..23a58d4 100644
--- a/user-code/servo/OpenModelica/servo-reverse.mo
+++ b/user-code/servo/OpenModelica/servo-reverse.mo
@@ -6,20 +6,20 @@ model servo_reverse
   Integer c_ok(fixed = false);

 algorithm

   when initial() then

-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";

+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";

+    sComm.delay(2000);

     if ok <> 0 then

       strm.print("Check the serial port and try again");

     else

-      sComm.delay(2000);

       sComm.cmd_servo_attach(1, 1) "Attach the motor to pin 9. 1 means 9";

       sComm.cmd_servo_move(1, 1, 90) "Move the servo to 90 degree";

       sComm.delay(1000) "be there for one second";

       sComm.cmd_servo_move(1, 1, 45) "Move the servo to 45 degree";

       sComm.delay(1000) "be there for one second";

       sComm.cmd_servo_detach(1, 1) "Detach the motor";

-      sComm.delay(1000);

     end if;

     c_ok := sComm.close_serial(1) "To close the connection safely";

   end when;

-  annotation(experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));

-end servo_reverse;
\ No newline at end of file
+  annotation(

+    experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));

+end servo_reverse;

diff --git a/user-code/servo/OpenModelica/servo_pot.mo b/user-code/servo/OpenModelica/servo_pot.mo
index 7915e09..5245ee2 100644
--- a/user-code/servo/OpenModelica/servo_pot.mo
+++ b/user-code/servo/OpenModelica/servo_pot.mo
@@ -4,28 +4,28 @@ model servo_pot "Control Servo Motor using Potentiometer"
   import strm = Modelica.Utilities.Streams;

   Integer ok(fixed = false);

   Integer c_ok(fixed = false);

-  Integer analog_in(fixed = false);

+  Integer val(fixed = false);

 algorithm

   when initial() then

-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";

+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";

     if ok <> 0 then

       strm.print("Check the serial port and try again");

     else

-      sComm.delay(2000);

       sComm.cmd_servo_attach(1, 1) "Attach the motor to pin 9";

       sComm.delay(2000);

-      for i in 1:5000 loop

-        analog_in := sComm.cmd_analog_in(1, 2) "Read potentiometer value";

-        analog_in := sComm.math_floor(analog_in * (180 / 1023)) "Scale Potentiometer value to 0-180";

-        sComm.cmd_servo_move(1, 1, analog_in) "Command the servo motor";

-        sComm.delay(1000) "sleep for 500 milliseconds";

-        strm.print("Potentiometer Reading at time" + String(time) + " : " + String(analog_in));

+      for i in 1:50 loop

+        val := sComm.cmd_analog_in(1, 2) "Read potentiometer value";

+        val := integer(val * 180 / 1023);

+        sComm.cmd_servo_move(1, 1, val) "Command the servo motor";

+        sComm.delay(500) "sleep for 1000 milliseconds";

       end for;

+      sComm.cmd_servo_detach(1, 1) "Detach the motor";

     end if;

-    sComm.cmd_servo_detach(1, 1) "Detach the motor";

-    sComm.delay(5000);

     c_ok := sComm.close_serial(1) "To close the connection safely";

   end when;

-  //5,000 itterations

-  annotation(experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));

-end servo_pot;
\ No newline at end of file
+//        strm.print(String(integer(analog_in * 180 / 1023)));

+//    analog_in := sComm.math_floor(analog_in * (180 / 1023)) "Scale Potentiometer value to 0-180";

+//strm.print(String(analog_in));

+  annotation(

+    experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));

+end servo_pot;

diff --git a/user-code/servo/arduino/servo-init/servo-init.ino b/user-code/servo/arduino/servo-init/servo-init.ino
index ec7f363..77d2aa7 100644
--- a/user-code/servo/arduino/servo-init/servo-init.ino
+++ b/user-code/servo/arduino/servo-init/servo-init.ino
@@ -2,11 +2,10 @@
 Servo myservo;  // create servo object to control a servo 
 void setup() {
   Serial.begin(115200); 
-  myservo.attach(9); // attach the servo object on to pin 9 
+  myservo.attach(5); // attach the servo object on to pin 5 
   myservo.write(30); // tell servo to rotate by 30 degrees
   delay(1000);
   myservo.detach();
 }  
 void loop() {
 } 
-
diff --git a/user-code/servo/arduino/servo-loop/servo-loop.ino b/user-code/servo/arduino/servo-loop/servo-loop.ino
index f3dc634..4eba5d6 100644
--- a/user-code/servo/arduino/servo-loop/servo-loop.ino
+++ b/user-code/servo/arduino/servo-loop/servo-loop.ino
@@ -1,11 +1,11 @@
 #include <Servo.h> 
 Servo myservo;  // create servo object to control a servo 
-int angle=20;
-int i=0;
+int angle = 20;
+int i = 0;
 void setup() {
-  for(i=1;i<10;i++) {
+  for(i = 1; i < 10; i++) {
     Serial.begin(115200);
-    myservo.attach(9);      // attach the servo object on to pin 9 
+    myservo.attach(5);      // attach the servo object on to pin 9 
     myservo.write(angle*i); // tell servo to rotate by 20 degrees
     delay(1000);            // waits for a sec 
   }
@@ -13,4 +13,3 @@ void setup() {
 }  
 void loop() {
 } 
-
diff --git a/user-code/servo/arduino/servo-pot/servo-pot.ino b/user-code/servo/arduino/servo-pot/servo-pot.ino
index cdcc8df..26bed01 100644
--- a/user-code/servo/arduino/servo-pot/servo-pot.ino
+++ b/user-code/servo/arduino/servo-pot/servo-pot.ino
@@ -5,8 +5,8 @@ int val;        // variable to read the value from the analog pin
 int i;
 void setup(){
   Serial.begin(115200);
-  myservo.attach(9);        // attach the servo object on to pin 9
-  for(i=0;i<5000;++i){
+  myservo.attach(5);        // attach the servo object on to pin 5
+  for(i = 0; i < 50; ++i){
   val = analogRead(potpin); // reads a value in (0,1023) through pot
   val = map(val, 0, 1023, 0, 180); // maps it in the range (0,180) degrees 
   myservo.write(val);       // moves the motor to the mapped degree
@@ -16,4 +16,3 @@ void setup(){
 }
 void loop(){ 
 } 
-
diff --git a/user-code/servo/arduino/servo-reverse/servo-reverse.ino b/user-code/servo/arduino/servo-reverse/servo-reverse.ino
index c994df9..438813a 100644
--- a/user-code/servo/arduino/servo-reverse/servo-reverse.ino
+++ b/user-code/servo/arduino/servo-reverse/servo-reverse.ino
@@ -2,7 +2,7 @@
 Servo myservo;  // create servo object to control a servo 
 void setup() {
   Serial.begin(115200); 
-  myservo.attach(9); // attach the servo object on to pin 9 
+  myservo.attach(5); // attach the servo object on to pin 5 
   myservo.write(90); // tell servo to rotate by 90 degrees
   delay(1000);
   myservo.write(45);
@@ -11,4 +11,3 @@ void setup() {
 }  
 void loop() {
 } 
-
diff --git a/user-code/servo/julia/servo-init.jl b/user-code/servo/julia/servo-init.jl
index 60fae1c..7306f12 100644
--- a/user-code/servo/julia/servo-init.jl
+++ b/user-code/servo/julia/servo-init.jl
@@ -2,7 +2,7 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.ServoAttach(ser,1)
-ArduinoTools.ServoMove(ser,1,30)
+ArduinoTools.ServoAttach(ser, 1)
+ArduinoTools.ServoMove(ser, 1, 30)
 sleep(1)
 close(ser)
diff --git a/user-code/servo/julia/servo-loop.jl b/user-code/servo/julia/servo-loop.jl
index 2bacfa7..c0dc9ea 100644
--- a/user-code/servo/julia/servo-loop.jl
+++ b/user-code/servo/julia/servo-loop.jl
@@ -2,12 +2,11 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.ServoAttach(ser,1)
-sleep(1)
+ArduinoTools.ServoAttach(ser, 1)
 angle = 20
-for i = 1:9
-  ArduinoTools.ServoMove(ser,1,angle*i)
+for i = 1:10
+  ArduinoTools.ServoMove(ser, 1, angle*i)
   sleep(1)
 end
-ArduinoTools.ServoDetach(ser,1)
+ArduinoTools.ServoDetach(ser, 1)
 close(ser)
diff --git a/user-code/servo/julia/servo-pot.jl b/user-code/servo/julia/servo-pot.jl
index 523b03a..8c56ad2 100644
--- a/user-code/servo/julia/servo-pot.jl
+++ b/user-code/servo/julia/servo-pot.jl
@@ -2,13 +2,13 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.ServoAttach(ser,1)
-for i = 1:500
-  p = ArduinoTools.analogRead(ser,2)
-  p = p*(180/1023)
-  q = round(Int,floor(p))
-  ArduinoTools.ServoMove(ser,1,q)
+ArduinoTools.ServoAttach(ser, 1)
+for i = 1:50
+  val = ArduinoTools.analogRead(ser, 2)
+  val = val*(180/1023)
+  val = round(Int, floor(val))
+  ArduinoTools.ServoMove(ser, 1, val)
   sleep(0.5)
 end
-ArduinoTools.ServoDetach(ser,1)
+ArduinoTools.ServoDetach(ser, 1)
 close(ser)
diff --git a/user-code/servo/julia/servo-reverse.jl b/user-code/servo/julia/servo-reverse.jl
index 36d9ab6..5d62c47 100644
--- a/user-code/servo/julia/servo-reverse.jl
+++ b/user-code/servo/julia/servo-reverse.jl
@@ -2,9 +2,9 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.ServoAttach(ser,1)
-ArduinoTools.ServoMove(ser,1,90)
+ArduinoTools.ServoAttach(ser, 1)
+ArduinoTools.ServoMove(ser, 1, 90)
 sleep(1)
-ArduinoTools.ServoMove(ser,1,45)
+ArduinoTools.ServoMove(ser, 1, 45)
 sleep(1)
 close(ser)
diff --git a/user-code/servo/python/servo-init.py b/user-code/servo/python/servo-init.py
index e9fc8ab..d5754bf 100644
--- a/user-code/servo/python/servo-init.py
+++ b/user-code/servo/python/servo-init.py
@@ -1,9 +1,7 @@
-
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -11,32 +9,30 @@ from time import sleep
 
 class SERVO_INIT:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.obj_arduino.cmd_servo_attach(1,1)
-		self.obj_arduino.cmd_servo_move(1,1,30)
+		self.pin1 = 5
+		self.obj_arduino.cmd_servo_attach(1, 1)
+		self.obj_arduino.cmd_servo_move(1, 1, 30)
 		sleep(1)
-		self.obj_arduino.cmd_servo_detach(1,1)
+		self.obj_arduino.cmd_servo_detach(1, 1)
 		sleep(1)
-		
-		
 			
 
 	def exit(self):
 		self.obj_arduino.close_serial()
 
 def main():
-	obj_servo=SERVO_INIT(115200)
+	obj_servo = SERVO_INIT(115200)
 
-if __name__=='__main__':
+if __name__== '__main__':
 	main()
diff --git a/user-code/servo/python/servo-loop.py b/user-code/servo/python/servo-loop.py
index 73bd5c7..43ca310 100644
--- a/user-code/servo/python/servo-loop.py
+++ b/user-code/servo/python/servo-loop.py
@@ -1,9 +1,7 @@
-
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples)=os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -11,25 +9,25 @@ from time import sleep
 
 class SERVO_INCR:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.obj_arduino.cmd_servo_attach(1,1)
+		self.pin1 = 5
+		self.obj_arduino.cmd_servo_attach(1, 1)
 		sleep(1)
-		self.angle=20
+		self.angle = 20
 		for i in range(10):
-			self.obj_arduino.cmd_servo_move(1,1,self.angle*i)
-			sleep(2)
-		self.obj_arduino.cmd_servo_detach(1,1)
+			self.obj_arduino.cmd_servo_move(1, 1, self.angle*i)
+			sleep(1)
+		self.obj_arduino.cmd_servo_detach(1, 1)
 		
 	def exit(self):
 		self.obj_arduino.close_serial()
diff --git a/user-code/servo/python/servo-pot.py b/user-code/servo/python/servo-pot.py
index 9a66f2b..87d3e06 100644
--- a/user-code/servo/python/servo-pot.py
+++ b/user-code/servo/python/servo-pot.py
@@ -1,9 +1,7 @@
-
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -11,37 +9,32 @@ from time import sleep
 
 class SERVO_POT:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.pot=2
-		self.pos=0
-		self.obj_arduino.cmd_servo_attach(1,1)
-		sleep(1)
-		self.angle=18
-		for i in range(100):
-			val=self.obj_arduino.cmd_analog_in(1,self.pot)
-			print val
+		self.pin1 = 5
+		self.pot = 2
+		self.obj_arduino.cmd_servo_attach(1, 1)
+		for i in range(50):
+			val = self.obj_arduino.cmd_analog_in(1, self.pot)
 			val = int(val*180/1023)
-			print (val)
-			self.obj_arduino.cmd_servo_move(1,1,val)
+			self.obj_arduino.cmd_servo_move(1, 1 ,val)
 			sleep(0.5)
-		self.obj_arduino.cmd_servo_detach(1,1)
+		self.obj_arduino.cmd_servo_detach(1, 1)
 		
 	def exit(self):
 		self.obj_arduino.close_serial()
 
 def main():
-	obj_servo=SERVO_POT(115200)
+	obj_servo = SERVO_POT(115200)
 
 if __name__=='__main__':
 	main()
diff --git a/user-code/servo/python/servo-reverse.py b/user-code/servo/python/servo-reverse.py
index d205771..9075773 100644
--- a/user-code/servo/python/servo-reverse.py
+++ b/user-code/servo/python/servo-reverse.py
@@ -1,9 +1,7 @@
-
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -11,34 +9,31 @@ from time import sleep
 
 class SERVO_ANGULAR_ROTATION:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.obj_arduino.cmd_servo_attach(1,1)
-		self.obj_arduino.cmd_servo_move(1,1,90)
-		sleep(1)
-		self.obj_arduino.cmd_servo_move(1,1,45)
+		self.pin1 = 5
+		self.obj_arduino.cmd_servo_attach(1, 1)
+		self.obj_arduino.cmd_servo_move(1, 1, 90)
 		sleep(1)
-		self.obj_arduino.cmd_servo_detach(1,1)
+		self.obj_arduino.cmd_servo_move(1, 1, 45)
 		sleep(1)
-		
-		
+		self.obj_arduino.cmd_servo_detach(1, 1)
 			
 
 	def exit(self):
 		self.obj_arduino.close_serial()
 
 def main():
-	obj_servo=SERVO_ANGULAR_ROTATION(115200)
+	obj_servo = SERVO_ANGULAR_ROTATION(115200)
 
-if __name__=='__main__':
+if __name__== '__main__':
 	main()
diff --git a/user-code/servo/scilab/servo-init.sce b/user-code/servo/scilab/servo-init.sce
index ac3e331..02c8fdf 100644
--- a/user-code/servo/scilab/servo-init.sce
+++ b/user-code/servo/scilab/servo-init.sce
@@ -1,6 +1,7 @@
-ok = open_serial(1,2,115200) // At port 2 with baud rate of 115200
+ok = open_serial(1, 2, 115200) // At port 2 with baud rate of 115200
 if ok ~= 0 error('Check the serial port and try again'); end
-cmd_servo_attach(1,1)  // To attach the motor to pin 9
-cmd_servo_move(1,1,30) // tell servo to rotate by 30 degrees
+cmd_servo_attach(1, 1)  // To attach the motor to pin 5
+cmd_servo_move(1, 1, 30) // tell servo to rotate by 30 degrees
 sleep(1000)
+cmd_servo_detach(1, 1)          // Detach the motor
 close_serial(1)
diff --git a/user-code/servo/scilab/servo-init.zcos b/user-code/servo/scilab/servo-init.zcos
index 291d5d5..ab34b49 100644
--- a/user-code/servo/scilab/servo-init.zcos
+++ b/user-code/servo/scilab/servo-init.zcos
diff --git a/user-code/servo/scilab/servo-loop.sce b/user-code/servo/scilab/servo-loop.sce
index 173e766..87add3a 100644
--- a/user-code/servo/scilab/servo-loop.sce
+++ b/user-code/servo/scilab/servo-loop.sce
@@ -1,11 +1,10 @@
-ok= open_serial(1,2,115200); // At port 2 with baudrate of 115200
+ok = open_serial(1, 2, 115200); // At port 2 with baudrate of 115200
 if ok ~= 0 error('Check the serial port and try again'); end
-cmd_servo_attach(1,1)        // Attach motor to pin 9. 1 means pin 9.
-sleep(1000)
-angle=20;                      // Angle by which it has to move
-for i=0:10
-   cmd_servo_move(1,1,angle*i) // tell servo to rotate by 20 degrees
+angle = 20;                      // Angle by which it has to move
+for i = 0:10
+   cmd_servo_attach(1, 1)        // Attach motor to pin 5. 1 means pin 9.
+   cmd_servo_move(1, 1, angle*i) // tell servo to rotate by 20 degrees
    sleep(1000)                 // waits for a sec 
 end
-cmd_servo_detach(1,1)          // Detach the motor
+cmd_servo_detach(1, 1)          // Detach the motor
 close_serial(1);               //To close the connection safely
diff --git a/user-code/servo/scilab/servo-pot.sce b/user-code/servo/scilab/servo-pot.sce
index 2d4a7af..721bc25 100644
--- a/user-code/servo/scilab/servo-pot.sce
+++ b/user-code/servo/scilab/servo-pot.sce
@@ -1,11 +1,11 @@
-ok = open_serial(1,2,115200) // At port 2 with baud rate of 115200
+ok = open_serial(1, 2, 115200) // At port 2 with baud rate of 115200
 if ok ~= 0 error('Check the serial port and try again'); end
-cmd_servo_attach(1,1) // Attach the motor to pin 9
-for i=1:5000              // 5,000 itterations
-    p=cmd_analog_in(1,2)  // Read potntiometer value
-    p=floor(p*(180/1023)) // Scale Potentiometer value to 0-180
-    cmd_servo_move(1,1,p) // Command the servo motor
+cmd_servo_attach(1, 1) // Attach the motor to pin 5
+for i=1:50              // 5,000 itterations
+    val = cmd_analog_in(1, 2)  // Read potntiometer value
+    val = floor(val*(180/1023)) // Scale Potentiometer value to 0-180
+    cmd_servo_move(1, 1, val) // Command the servo motor
     sleep(500)            // sleep for 500 milliseconds
 end
-cmd_servo_detach(1,1)// Detach the motor
+cmd_servo_detach(1, 1)// Detach the motor
 close_serial(1)
diff --git a/user-code/servo/scilab/servo-pot.zcos b/user-code/servo/scilab/servo-pot.zcos
index ce85c8f..1d1009f 100644
--- a/user-code/servo/scilab/servo-pot.zcos
+++ b/user-code/servo/scilab/servo-pot.zcos
diff --git a/user-code/servo/scilab/servo-reverse.sce b/user-code/servo/scilab/servo-reverse.sce
index 0405d0d..7fe1008 100644
--- a/user-code/servo/scilab/servo-reverse.sce
+++ b/user-code/servo/scilab/servo-reverse.sce
@@ -1,8 +1,9 @@
-ok = open_serial(1,2,115200)  // Connect to Arduino at port 2 

+ok = open_serial(1, 2, 115200)  // Connect to Arduino at port 2 

 if ok ~= 0 error('Check the serial port and try again'); end

-cmd_servo_attach(1,1)         // Attach the motor to pin 9. 1 means 9

-cmd_servo_move(1,1,90)        // Move the servo to 90 degree

-sleep(1000) 		      // be there for one second

-cmd_servo_move(1,1,45)        // Move the servo to 45 degree

-sleep(1000)		      // be there for one second

+cmd_servo_attach(1, 1)         // Attach the motor to pin 5. 1 means 9

+cmd_servo_move(1, 1, 90)        // Move the servo to 90 degree

+sleep(1000) // be there for one second

+cmd_servo_move(1, 1, 45)        // Move the servo to 45 degree

+sleep(1000)      // be there for one second

+cmd_servo_detach(1, 1)          // Detach the motor

 close_serial(1)               // To close the connection safely 

diff --git a/user-code/servo/scilab/servo-reverse.zcos b/user-code/servo/scilab/servo-reverse.zcos
index 1734bc4..68db9b8 100644
--- a/user-code/servo/scilab/servo-reverse.zcos
+++ b/user-code/servo/scilab/servo-reverse.zcos