Dropper branch

[alicvo]

basicawwy

• added servo module

  • ServoWrapper.py
    • added high-level PWM methods for servo-controlled subsystems:
      • dropper_drop()
      • dropper_reset()
      • grabber1_open()
      • grabber1_close()
      • grabber2_open()
      • grabber2_close()
      • torpedo_fire()
      • torpedo_reset()
    • added generic set_pwm(subsystem, pwm_value) helper for setting PWM by subsystem name
  • test_servo.py
    • added CLI tester for manually testing servo subsystem commands
  • README.md
    • added usage notes for servo wrapper commands and shared memory behavior

• updated shared_memory.py

  • added shared memory PWM values for servo-controlled subsystems:
    • dropper_pwm
    • grabber1_pwm
    • grabber2_pwm
    • torpedo_pwm

• updated MotorWrapper.py

  • extended USB command packet to include servo PWM values:
    • dropper_pwm
    • grabber1_pwm
    • grabber2_pwm
    • torpedo_pwm
  • reads servo PWM values from shared memory and updates the controls array every time send_command() is called
  • updated motor validation so only motor values are scaled by MOTOR_FACTOR; control and servo PWM values are sent unscaled

note / concern

• ServoWrapper only updates shared memory values; PWM values are sent to hardware the next time MotorWrapper.send_command() is called
• this works with the current USB packet flow, but long term we may want a separate command wrapper since the packet includes both motor and non-motor controls