feat: Added RoboticArm

[rahul31124]

Fixes #252 #253

Changes

Added RoboticArm class to pslab.external.motor
This class enables controlling RoboticArm

Supports control of up to 4 servos via Servo class
Internally uses existing Servo objects, validating servo count and managing individual angle settings

Implemented run_schedule() to move RoboticArm according to a timeline
Each servo position is updated per second based on a time-dependent list of angle

Summary by Sourcery

Add RoboticArm class to motor module enabling multi-servo control and timed movement scheduling

New Features:

• Add RoboticArm class with validation for up to 4 Servo instances
• Implement run_schedule method to execute servo angle timelines at one-second intervals

[sourcery-ai]

Reviewer's Guide

Adds a new RoboticArm class in pslab.external.motor to coordinate up to four existing Servo instances, including input validation and a run_schedule method for time-based servo angle sequences.

Class diagram for the new RoboticArm class and its relationship to Servo

classDiagram
    class Servo {
        angle
        _get_duty_cycle(angle)
    }
    class RoboticArm {
        MAX_SERVOS
        servos
        __init__(servos)
        run_schedule(timeline)
    }
    RoboticArm --> "*" Servo : uses up to 4

Loading

File-Level Changes

Change	Details	Files
Introduce RoboticArm class with servo count validation	Define MAX_SERVOS constant Validate number of servos in init and raise ValueError if exceeded Store provided Servo instances in self.servos	pslab/external/motor.py
Implement run_schedule for timed servo movements	Loop over each time step in the timeline Assign each servo’s angle from the corresponding timeline entry Sleep for 1 second between steps	pslab/external/motor.py

Assessment against linked issues

Issue	Objective	Addressed	Explanation
#252	Create a RoboticArm class that takes a list of 1-4 Servos as input.	✅
#252	The RoboticArm class should be able to set the position of each servo independently.	✅

Possibly linked issues

• #0: PR adds RoboticArm class and run_schedule method, implementing issue requirements.
• RoboticArm initial skeleton #252: The PR adds the RoboticArm class and the run_schedule method to implement the required time-dependent position schedule.

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[sourcery-ai]

Hey @rahul31124 - I've reviewed your changes and they look great!

Prompt for AI Agents

Please address the comments from this code review:
## Individual Comments

### Comment 1
<location> `pslab/external/motor.py:77` </location>
<code_context>
         return angle / (self._frequency**-1 * MICROSECONDS)
+
+
+class RoboticArm:
+    MAX_SERVOS = 4
+
</code_context>

<issue_to_address>
Consider validating timeline dimensions in run_schedule.

Currently, run_schedule may raise an IndexError or ignore extra values if a sublist's length doesn't match self.servos. Adding a check for sublist length would improve robustness.
</issue_to_address>

<suggested_fix>
<<<<<<< SEARCH
class RoboticArm:
    MAX_SERVOS = 4

=======
class RoboticArm:
    MAX_SERVOS = 4

    def run_schedule(self, timeline: List[List[Union[int, float]]]):
        """
        Run a schedule of servo positions.

        Args:
            timeline: A list of lists, where each sublist contains positions for each servo at a time step.

        Raises:
            ValueError: If any sublist does not match the number of servos.
        """
        for idx, positions in enumerate(timeline):
            if len(positions) != len(self.servos):
                raise ValueError(
                    f"Timeline entry at index {idx} has {len(positions)} positions, "
                    f"but {len(self.servos)} servos are configured."
                )
        # Existing logic for running the schedule goes here
        # for positions in timeline:
        #     self.set_positions(positions)
        #     time.sleep(self.step_delay)
>>>>>>> REPLACE

</suggested_fix>

### Comment 2
<location> `pslab/external/motor.py:92` </location>
<code_context>
+            for j in range(len(self.servos)):
+                angle = timeline[i][j]
+                self.servos[j].angle = angle
+            time.sleep(1)
</code_context>

<issue_to_address>
Consider making the sleep duration configurable.

Allow users to set the sleep interval via a parameter or class attribute for greater flexibility.
</issue_to_address>

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[sourcery-ai]

suggestion (bug_risk): Consider validating timeline dimensions in run_schedule.

Currently, run_schedule may raise an IndexError or ignore extra values if a sublist's length doesn't match self.servos. Adding a check for sublist length would improve robustness.

Suggested change

	class RoboticArm:
	MAX_SERVOS = 4
	class RoboticArm:
	MAX_SERVOS = 4
	def run_schedule(self, timeline: List[List[Union[int, float]]]):
	"""
	Run a schedule of servo positions.
	Args:
	timeline: A list of lists, where each sublist contains positions for each servo at a time step.
	Raises:
	ValueError: If any sublist does not match the number of servos.
	"""
	for idx, positions in enumerate(timeline):
	if len(positions) != len(self.servos):
	raise ValueError(
	f"Timeline entry at index {idx} has {len(positions)} positions, "
	f"but {len(self.servos)} servos are configured."
	)
	# Existing logic for running the schedule goes here
	# for positions in timeline:
	# self.set_positions(positions)
	# time.sleep(self.step_delay)

[sourcery-ai]

suggestion: Consider making the sleep duration configurable.

Allow users to set the sleep interval via a parameter or class attribute for greater flexibility.

[sourcery-ai]

issue (code-quality): Replace index in for loop with direct reference (for-index-replacement)

[rahul31124]

Hello @bessman, could you please review this PR and suggest any changes that might be needed?

[rahul31124]

@bessman, I've added the changes