Awesome

Description

A micropython library to control rc servos in a tidy way.

This uses hardware PWM as an efficient way to generate the ouput signal. But therefore servos need to be connected to pins with PWM functionallity.

The servos can be calibrated using 2 points (min / max position). The default values should work for most servos, but won't set the servo to the exact position, as these values are different for each servo model.

Examples

Move servo

import time
from servo import Servo
my_servo = Servo(pin_id=28)
my_servo.write(30)
time.sleep(2.0)
my_servo.write(60)
time.sleep(2.0)
my_servo.write(90)

API

class Servo(pin_id,min_us=544.0,max_us=2400.0,min_deg=0.0,max_deg=180.0,freq=50)

• pin_id: id of the pin connected to the servo
• min_us: minimal pulse width (calibration point 1 / there is no clipping if you try to set the servo to a lower value)
• max_us: maximal pulse width (calibration point 2 / there is no clipping if you try to set the servo to a higher value)
• min_deg: minimal position in degrees (calibration point 1 / there is no clipping if you try to set the servo to a lower value)
• max_deg: maximal position in degrees (calibration point 2 / there is no clipping if you try to set the servo to a higher value)

write(deg)

• move the servo to the given position
• deg: Position in degrees

read()

• returns the position last set in degrees

write_rad(rad)

• move the servo to the given position
• rad: Position in radians

read_rad()

• returns the position last set in radians

write_us(us)

• set the pulse width for the servo
• us: Pulse width in us

read_us()

• returns the last set puls width

off()

• disables the output