#!/usr/bin/python
import math, time, serial

def get_command(channel, target):
        target = target * 4
        serialBytes = chr(0x84)+chr(channel)+chr(target & 0x7F)+chr((target >> 7) & 0x7F)
        return serialBytes

ser = serial.Serial('/dev/ttyACM0')
ser.write(chr(0xAA))
ser.flush()

i=0.0
while(i<2*math.pi):
        i = i+0.01
        print math.sin(i)
        ser.write(get_command(1,int((math.sin(i)*300)+1500)))
        ser.write(get_command(0,int((math.sin(i)*300)+1500)))

        time.sleep(0.002)

ser.write(get_command(1,0))
ser.write(get_command(0,0))

ser.close()