fossasia · bessman · Jul 15, 2025 · Jul 10, 2025 · Jul 10, 2025 · Jul 12, 2025
diff --git a/pslab/external/motor.py b/pslab/external/motor.py
@@ -7,6 +7,8 @@
 >>> servo.angle = 30  # Turn motor to 30 degrees position.
 """
 
+import time
+from typing import List
 from typing import Union
 
 from pslab.instrument.waveform_generator import PWMGenerator
@@ -70,3 +72,21 @@ def _get_duty_cycle(self, angle):
         angle *= self._max_angle_pulse - self._min_angle_pulse  # Scale
         angle += self._min_angle_pulse  # Offset
         return angle / (self._frequency**-1 * MICROSECONDS)
+
+
+class RoboticArm:
+    MAX_SERVOS = 4
+
-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)
-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)
+    def __init__(self, servos: List[Servo]) -> None:
+        if len(servos) > RoboticArm.MAX_SERVOS:
+            raise ValueError(
+                f"At most {RoboticArm.MAX_SERVOS} servos can be used, got {len(servos)}"
+            )
+        self.servos = servos
+
+    def run_schedule(self, timeline: List[List[int]]) -> None:
+        for i in range(len(timeline)):
+            for j in range(len(self.servos)):
+                angle = timeline[i][j]
+                self.servos[j].angle = angle
+            time.sleep(1)