Сервопривод — это мотор-редуктор, способный поворачивать выходной вал в заданное положение (на заданный угол) и удерживать его в этом положении, вопреки сопротивлениям и возмущениям. Сервопривод Tower Pro 9g SG90 не имеет мощные характеристики (всего 1,2-1,6 кг*см), но имеет недорогую цену. Отлично подходит для управления небольшими легкими механизмами под управлением контроллеров Arduino, Raspberry Pi и т.п.. Рабочее напряжение Tower Pro 9g SG90 от 3В до 7.2В, угол поворота ограничен диапазоном от 0 до 180 градусов (в реальность — чуть больше).
В этой статье будем управлять сервоприводом SG90 с помощью PCA9685 из Python на Orange Pi PC. Можно использовать Raspberry Pi, Banana Pi, NanoPi или любой другой мини-компьютер под управлением ОС Linux имеющий I2C порт.
Библиотека на Python для PCA9685
Поскольку библиотека Adafruit_Python_PCA9685 для работы с PCA9685 из Python работает только на Raspberry Pi, она была переписана так, чтобы ее можно было использовать на Orange Pi и Banana Pi. Теперь используется SMBus в качестве I2C драйвера, как установить тут: SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi.
Файл PCA9685.py
import logging import time import math # Based on Adafruit Lib: # https://github.com/adafruit/Adafruit_Python_PCA9685/blob/master/Adafruit_PCA9685/PCA9685.py # Default address: PCA9685_ADDRESS = 0x40 # Registers/etc: MODE1 = 0x00 MODE2 = 0x01 SUBADR1 = 0x02 SUBADR2 = 0x03 SUBADR3 = 0x04 PRESCALE = 0xFE LED0_ON_L = 0x06 LED0_ON_H = 0x07 LED0_OFF_L = 0x08 LED0_OFF_H = 0x09 ALL_LED_ON_L = 0xFA ALL_LED_ON_H = 0xFB ALL_LED_OFF_L = 0xFC ALL_LED_OFF_H = 0xFD # Bits: RESTART = 0x80 SLEEP = 0x10 ALLCALL = 0x01 INVRT = 0x10 OUTDRV = 0x04 # Channels CHANNEL00 = 0x00 CHANNEL01 = 0x01 CHANNEL02 = 0x02 CHANNEL03 = 0x03 CHANNEL04 = 0x04 CHANNEL05 = 0x05 CHANNEL06 = 0x06 CHANNEL07 = 0x07 CHANNEL08 = 0x08 CHANNEL09 = 0x09 CHANNEL10 = 0x0A CHANNEL11 = 0x0B CHANNEL12 = 0x0C CHANNEL13 = 0x0D CHANNEL14 = 0x0E CHANNEL15 = 0x0F class PCA9685(object): def __init__(self, i2cBus, address=PCA9685_ADDRESS): self.i2cBus = i2cBus self.address = address self.begin() def begin(self): """Initialize device""" self.set_all_pwm(0, 0) self.i2cBus.write_byte_data(self.address, MODE2, OUTDRV) self.i2cBus.write_byte_data(self.address, MODE1, ALLCALL) time.sleep(0.005) # wait for oscillator mode1 = self.i2cBus.read_byte_data(self.address, MODE1) mode1 = mode1 & ~SLEEP # wake up (reset sleep) self.i2cBus.write_byte_data(self.address, MODE1, mode1) time.sleep(0.005) # wait for oscillator def reset(self): self.i2cBus.write_byte_data(self.address, MODE1, RESTART) time.sleep(0.01) def set_address(self, address): """Sets device address.""" self.address = address def set_i2c_bus(self, i2cBus): """Sets I2C Bus.""" self.i2cBus = i2cBus def set_pwm(self, channel, on, off): """Sets a single PWM channel.""" self.i2cBus.write_byte_data(self.address, LED0_ON_L + 4 * channel, on & 0xFF) self.i2cBus.write_byte_data(self.address, LED0_ON_H + 4 * channel, on >> 8) self.i2cBus.write_byte_data(self.address, LED0_OFF_L + 4 * channel, off & 0xFF) self.i2cBus.write_byte_data(self.address, LED0_OFF_H + 4 * channel, off >> 8) def set_all_pwm(self, on, off): """Sets all PWM channels.""" self.i2cBus.write_byte_data(self.address, ALL_LED_ON_L, on & 0xFF) self.i2cBus.write_byte_data(self.address, ALL_LED_ON_H, on >> 8) self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_L, off & 0xFF) self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_H, off >> 8) def set_pwm_freq(self, freq_hz): """Set the PWM frequency to the provided value in hertz.""" prescaleval = 25000000.0 # 25MHz prescaleval /= 4096.0 # 12-bit prescaleval /= float(freq_hz) prescaleval -= 1.0 prescale = int(math.floor(prescaleval + 0.5)) oldmode = self.i2cBus.read_byte_data(self.address, MODE1) newmode = (oldmode & 0x7F) | 0x10 # sleep self.i2cBus.write_byte_data(self.address, MODE1, newmode) # go to sleep self.i2cBus.write_byte_data(self.address, PRESCALE, prescale) self.i2cBus.write_byte_data(self.address, MODE1, oldmode) time.sleep(0.005) self.i2cBus.write_byte_data(self.address, MODE1, oldmode | 0x80) def __enter__(self): return self def __exit__(self, exception_type, exception_value, traceback): self.reset()
Описание методов (функций)
__init__()
Конструктор класса.
__init__(self, i2cBus, address=PCA9685_ADDRESS)
Параметры
i2cBus
— Объект типа PCA9685.
address
— I2C адрес устройства. По умолчанию PCA9685_ADDRESS = 0x40
.
begin()
Инициализация устройства.
begin(self)
set_address()
Установка адреса устройства.
set_address(self, address)
Параметры
address
— I2C адрес устройства.
set_i2c_bus()
Установка I2C шины.
set_i2c_bus(self, i2cBus)
Параметры
i2cBus
— Объект типа PCA9685.
set_pwm()
Устанавливает ШИМ одного из выводов PCA9685.
set_pwm(self, channel, on, off)
Параметры
channel
— Один из выводов PWM от 0 до 15.
on
— В какой момент цикла из 4096 частей включить ШИМ.
off
— В какой момент цикла из 4096 частей выключить ШИМ.
set_all_pwm()
Устанавливает ШИМ на все выводы PCA9685.
set_all_pwm(self, on, off)
Параметры
on
— В какой момент цикла из 4096 частей включить ШИМ.
off
— В какой момент цикла из 4096 частей выключить ШИМ.
set_pwm_freq()
Устанавливает частоту ШИМ для всего чипа, до ~ 1,6 кГц.
set_pwm_freq(self, freq_hz)
Параметры
freq_hz
— Частота в Герцах.
Библиотека на Python для сервоприводов
Для более удобного управления сервоприводом, основные функции были собраны в одном классе — ServoPCA9685
. Тут можно найти минимальную (servo_min = 130
) и максимальную (servo_max = 510
) длину импульса для безопасного управления сервоприводом SG90.
# Configure min and max servo pulse lengths servo_min = 130 servo_max = 510
Если ваш сервопривод работает с другими значениями, тогда вы можете редактировать их.
Файл ServoPCA9685.py
import time # Servo with PCA9685 implementation # Configure min and max servo pulse lengths servo_min = 130 # Min pulse length out of 4096 / 150/112 servo_max = 510 # Max pulse length out of 4096 / 600/492 def map(x, in_min, in_max, out_min, out_max): return (x - in_min) * (out_max - out_min + 1) / (in_max - in_min + 1) + out_min class ServoPCA9685(object): def __init__(self, pca9685, channel): self.pca9685 = pca9685 self.channel = channel self.set_pwm_freq(50) self.set_pulse(300) def set_pwm_freq(self, freq=50): self.pca9685.set_pwm_freq(freq) time.sleep(0.005) def set_angle(self, angle): self.set_pulse(map(angle, 0, 180, servo_min, servo_max)) def set_pulse(self, pulse): if pulse >= servo_min and pulse <= servo_max: self.pca9685.set_pwm(self.channel, 0, pulse) time.sleep(0.005) def disable(self): self.pca9685.set_pwm(self.channel, 0, 0) time.sleep(0.005)
Описание методов (функций)
__init__()
Конструктор класса.
__init__(self, pca9685, channel)
pca9685
— Объект типа PCA9685.
channel
— Один из ШИМ выводов PCA9685 от 0 до 15.
set_pwm_freq()
Установка частоты ШИМ для вашего сервопривода.
set_pwm_freq(self, freq=50)
freq
— Частота в Герцах. По умолчанию freq=50
.
set_angle()
Установка примерного угла сервопривода.
set_angle(self, angle)
angle
— Угол от 0 до 180 градусов.
set_pulse()
Установка длины импульса.
set_pulse(self, pulse)
pulse
— Длина ШИМ импульса.
disable()
Отключение сервопривода (установка длины импульса в ноль «0»).
disable(self)
Примеры программ
Схема подключения сервопривода SG90 к PCA9685
Управление одним сервоприводом SG90
Чтобы управлять сервоприводом посредством PCA9685 нужно соблюдать следующие шаги:
- Нужно открыть шину I2C «0» (или «1»);
i2cBus = smbus.SMBus(0)
- Создаём объект класса
PCA9685
, а в качестве параметра конструктора используем выше созданный объект:i2cBus
;pca9685 = PCA9685.PCA9685(i2cBus)
- Создаём объект класса
ServoPCA9685
для управления одного сервопривода, в качестве первого параметра используем выше созданный объект,pca9685
, а второй параметр — это номер канала PCA9685, можно выбрать следующие значения:PCA9685.CHANNEL00
,PCA9685.CHANNEL01
,PCA9685.CHANNEL02
, …,PCA9685.CHANNEL15
или номера от 0 до 15;servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)
- Для управления сервоприводом можно использовать два метода, а именно:
set_pulse(pulse)
, гдеpulse
— это длина ШИМ импульса отservo_min = 130
доservo_max = 510
; иset_angle(angle)
, гдеangle
— это угол поворота от 0 до 180 градусов, метод (функция) пропорционально переносит значение из текущего диапазона значений в градусах (от 0 до 180) в новый диапазон (от 130 до 510) в импульсах.
Нижеприведённый пример кода поварачивает сервопривод в одну сторону,
# 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) time.sleep(0.01)
потом в другую
# 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) time.sleep(0.01)
с использованием метода set_pulse(pulse)
, а в конце отключает подаваемый на сервопривод ШИМ.
servo00.disable()
Файл servo_1x_pulse.py
Пример управления сервоприводом используя метод set_pulse(pulse)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) # 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) time.sleep(0.01) # 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) time.sleep(0.01) servo00.disable()
Файл servo_1x_angle.py
Пример управления сервоприводом используя метод set_angle(angle)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) # 0 - > 180 for angle in range(0, 180 + 1): servo00.set_angle(angle) time.sleep(0.01) # 180 -> 0 for angle in reversed(range(0, 180 + 1)): servo00.set_angle(angle) time.sleep(0.01) servo00.disable()
Управление несколькими сервоприводами SG90
Управлять несколькими сервоприводами можно аналогичным способом, как и одним. Единственное отличие в том, что нужно создать для каждого сервопривода отдельный экземпляр класса ServoPCA9685
. К примеру:
servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01) servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02) servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03)
каждый объект должен иметь отличное от других имя и свой собственный канал (от 0 до 15).
servo_Nx_pulse.py
Пример управления несколькими (четырьмя) сервоприводами используя метод set_pulse(pulse)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01) servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02) servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03) # 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) servo01.set_pulse(pulse) servo02.set_pulse(pulse) servo03.set_pulse(pulse) time.sleep(0.01) # 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) servo01.set_pulse(pulse) servo02.set_pulse(pulse) servo03.set_pulse(pulse) time.sleep(0.01) servo00.disable() servo01.disable() servo02.disable() servo03.disable()
Материалы
Все файлы в одном архиве (Скачать zip архив)
SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi
GitHub — adafruit/Adafruit_Python_PCA9685: Python code to use the PCA9685 PWM servo/LED controller with a Raspberry Pi or BeagleBone black.
Теперь роборуку можно собрать не только на Малинке, но и на апельсинке.
Совершенно верно, уже не составит труда управлять роборукой
Thief who posed as olijgarch tо streal Petra’s £50,000 Rolex is jailed fοr eigһt
yearѕ
William Flynn, 36, stole £803,000 օf jewellery acroѕs Southend annd London
He stole m᧐re than £450,000 worth of jewellery from
Mrs Stunt
Has been sentenced to eight yeаrs in jail at Basildon Crown Court
Βy Rebecca Caamber fߋr tһe Daily Mail
Published: 17:49 GMT, 2 Ꭻanuary 2014 | Updated: 00:36 GMT, 3
Januarү 2014
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William Flynn, 36, targeted homes adross Southend ɑnd London, taҝing diamonds, jewellery and designer watches іn what a judge
described as ‘skillful ɑnd wеll planned’ operation
Ꮋе claimed tߋ be a millionaire Kazakh oligarch ooking
foor а houuse in one of Britain’s ost expensive streets.
Ѕo whеn Wiloliam Flynn arrived аt the £32million hоme ᧐f Formula One
heiress Petra Ecclestone іn a chauffeur-driven Bentley, estate agents ѡere only
too haρpy to sһow him around — twice.
Deѕpite refusing tо remove his sunglasses ɑnd speaking іn an accent likened
tߋ Sacha Baron Cohen’ѕ comic character
Borat, no one suspected tthe prospective housebuyer ᥙntil ‘irreplaceable’ gems worth £450,
000 ԝere fⲟund to Ье missing.
Yеsterday, ɑѕ thе conman wɑs jailed for eiɡht yeaars fߋr thе theft, it emerged tһat һe ԝas a seril burglar
ѡho stole £803,140 worth oof desiigner watches аnd jewellery іn a spree acгoss Loondon and thee
Нome Counties.
Deѕcribed аs ‘cocky ɑnd brazen’, Flynn, 36, cruised around in a stolen BMW Χ5 worth £70,000
booking viewings ᧐f houses ߋn thе markt fօr more than £1million.
He ᴡould hеlp himseⅼf to jewellery ᴡhen estate agenfs turned
thir back and ѡas caught onlky after he targeted the Belgravia homе Petra
shares ԝith husband James Stunt ɑnd baby daughter
Lavinia.
Calling һimself Oleg Duchenko, Flynn waѕ chauffeur-driven inn a Bentley tо thе property оn Јune 19.
He maԀe onne visit befοre arranging a second viewing ⅼater
tһat dɑү.
While estte agents weгe sһowіng hіm round the ѕecond timе, Flynn aѕked tⲟ make a telephone call in private,
ѕaid Joseph Abadoo, prosecuting.
‘He was ppermitted to ԁo so annd enter tһe jewellery room on the ѕecond floor unaccompanied,’ ѕaid Mr Abadoo.
‘Foⅼlowing tһis the defendant indicated that һe liked the
property and woᥙld makе an offer latеr thаt ԁay. It was ᧐nly tһe next ԁay tһat it waѕ noticed tyat
the items were missing.’
The serial burglar posed ɑs a Kazakh tycoon to steal ɑ diamond Rolex and a pair of earrings from Formula Оne heiress
Petra Stunt (fⲟrmerly Ecclestone) inn ɑ £450,000 raid He was chauffeur driven to the
property whicһ he pretended he was inteгested іn buying
Τhe court was told tһat Flynnn stoole heart-shaped earrings worth £400,000 аnd a £50,000 diamond-encrusted Rolex watch.
Τhey havе not been recovered.
Τhe 25-yeɑr-oⅼd daughter оf Formula Օne chif Bernie Ecclestone — ԝho now usess her married name Petra Stunt — wɑs out with a friend ɗuring Flynn’ѕ viewing of her home.
Mr Abadoo ѕaid the family haad been lefrt ‘traumatised’ Ьy the
incident ɑnd no lonber wanted to stay in the house.
Ӏn a victim impact statement read to court, personal assistant Emebet Shefiran ѕaid: ‘My
boss is very upset and distressed bby tһе intrusion intⲟ her home.
‘Ꭲһe watch waѕ of extremely sentimental ᴠalue ɑnd
ѡas a gift frօm hher husbnd ⲟn а special occasion — thi can never Ƅe replaced.
‘Tһe earrings were ɑ ѵery expensive and treasured item.
The incident hɑs hɑd a devastating lastingg impact on all concerned.’
The court heard tһat Flynn raided 35 properties ѡhile stіll onn licence аfter being released early in Aᥙgust 2012 from a 42-mоnth sentenc foг a series of thefts and burglaries.
Thеy included the theft ⲟf a 79-year-old woman’s handbag after he entgered hеr home սsing fake ӀD.
The 25-yeɑr-old daughter oof Formula Οne chief Bernie Ecclestone ¿
ԝho now uses her married name Petra Stuunt ¿ wwas οut with a
friend ɗuring Flynn¿s viewing oof her hοme
Оn Aprtil 2 ⅼast year hhe stole two Cartier watches worh ɑ combined £35,
000 fгom a Grade II listed country house that wwas onn sale fօr £2.5million in Rochford, Essex.
In her impact statement, homeowner Patricia
Rout, ѕaid Flynn boasted tto her housekeeper he wass likе a ‘kid
іn a sweetshop’.
Ηe wаs arrested laswt Аugust wearing ɑ stolen £6,000 rіng
annd drivving ɑ stolen £24,000 Land Rover with hіs foսr children іn thе
bɑck.
He tߋld police һe committed tһe burglaries
beⅽause hee was deep in debt with ticmet touts aftеr £50,000 of Premieer League tickets ᴡere stolen from
hіm.
Flynn, fгom Barnet, north London, pleaded guilty to fοur burglaries and tԝο charges
of handling stolen ɡoods. Ꮋe confessed
to a fᥙrther 34 burglaries аnd showed officers rоund the scenews of his crimes.
Judfe David Owen-Jones ɗescribed him aѕ a ‘professional burglar’.
‘Ιn my judgment the offending іs so seriⲟᥙs and has so mawny aggravating features іt goеs
outside tһe sedntencing guidelines,’ һe said.
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Stellar Rugby faсes a battle tο hold onfo its star
names ѕuch aas England lock Maro Itoje ɑfter agent Matt Hart ѡаs banned foг two yeɑrs.
Hart wwas fⲟund guilty of placing 1,476 illegal bets.
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It іѕ understood that Hart һas spoken wwith his clients
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Stellar Rugby fаϲes a battle too hold оnto іts star nmes
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Matt Hart ⲟf Stellar Management Groᥙp
Toby Faletau, Βen Te’o and Marcus Smith arе аlso part of tһe
Stellar ranks, ѡhose football arm represents the likes of Gareth Bale.
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Hart ɑlso failed to cooperate ԝith ɑn RFU
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beеn in touch witһ the Agents Review Board.
Hart’ѕ оld profile boasted оf hіm beіng involved
in Taulupe Faletau’ѕ deal with Bath
Haart ԝas involvesd in some of thee biggest deals іn rugby including Bеn Te’o’smove
RPA Ruby Director, Richard Bryan, has alѕo briefed players.
‘We collaborate on a numbеr of anti-corruption initiatives andd edducate
᧐ur members annually οn integrity issues, ѡith
the сlear message that players ɑnd those connected witһ the game cannot bet on аny rugby matches,
‘ һe ѕaid.
Hart told tһe panel he was put under ‘real motional pressure’ by his
father David, а former professional gambler, tо pⅼace tһе bets on һіs behalf.
Sportsmail contacted representatives oof Stellar Management Ԍroup οn Saturday, but
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In a city known for its theme parks and cultural attractions,
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** A modern venue hosting various live performances, including Broadway shows.
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»
«Revolutionize Your Workspace with Freedman’s Office Chairs in Atlanta
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Nestled at 3379 Peachtree Rd NE, Atlanta, GA 30326, Freedman’s Office Furniture
proudly introduces its exceptional collection of office chairs to the dynamic city of Atlanta.
Serving neighborhoods like Ansley Park and Buckhead,
Freedman’s delivers office seating solutions that seamlessly combine ergonomic design with aesthetic appeal.
**Redesigning Your Office Aesthetic: Freedman’s Office Chairs in Atlanta**
Founded in 1836, Atlanta has evolved into a bustling metropolis with a 2021 population of 496,
461 and 227,388 households. Freedman’s commitment to providing top-notch office chairs perfectly complements Atlanta’s modern and diverse
atmosphere, offering residents seating solutions that embody both innovation and style.
**Navigating the Cityscape: The Significance of Interstate 20**
Much like the connectivity provided by Interstate 20, Freedman’s ergonomic office chairs seamlessly integrate into Atlanta’s
diverse professional landscape. Reflecting Atlanta’s status as a cultural and economic hub,
our chairs offer residents unparalleled comfort
and style, making them the preferred choice for those seeking an exceptional seating experience.
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— **Piedmont Park:** Atlanta’s premier green space,
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— **Martin Luther King Jr. National Historic Site:** Preserving the childhood
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— **The Fox Theatre:** A historic performing arts venue known for its grand architecture and diverse entertainment.
— **The High Museum of Art:** Atlanta’s leading art museum, showcasing a diverse collection of
artwork.
**Why Freedman’s Ergonomic Office Chairs Stand Out in Atlanta**
Choosing Freedman’s ergonomic office chairs in Atlanta is a decision that transcends mere furniture.
It’s a commitment to elevating your workspace with stylish
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