diff --git a/pslab/external/motor.py b/pslab/external/motor.py
index 71cff0c..f6caee1 100644
--- 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 +72,40 @@ 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:
+ """Robotic arm controller for up to 4 servos."""
+
+ MAX_SERVOS = 4
+
+ 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]], time_step: float = 1.0) -> None:
+ """Run a time-based schedule to move servos.
+
+ Parameters
+ ----------
+ timeline : List[List[int]]
+ A list of timesteps,where each sublist represents one timestep,
+ with angles corresponding to each servo.
+
+ time_step : float, optional
+ Delay in seconds between each timestep. Default is 1.0.
+ """
+ if len(timeline[0]) != len(self.servos):
+ raise ValueError("Each timestep must specify an angle for every servo")
+
+ tl_len = len(timeline[0])
+ if not all(len(tl) == tl_len for tl in timeline):
+ raise ValueError("All timeline entries must have the same length")
+
+ for tl in timeline:
+ for i, s in enumerate(self.servos):
+ s.angle = tl[i]
+ time.sleep(time_step)
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