servo module

Description

Uses the PWM controler of the ESP32 to drive a servo motor. Handles initialization, position control and speed limitation.

Settings

setting	type	range	description
pin	integer	> 0	number of the pin connected to the control input of the servo
frequency	integer	> 0	frequency (in Hz) of the PWM signal for the servo -- defaults to 50 Hz
minDuty	integer	≥ 0	minimum duty time (in µs) per PWM cycle
maxDuty	integer	> 0	maximum duty time (in µs) per PWM cycle
minAngle	integer	–	minimum of the range used to control the servo[1]
maxAngle	integer	–	maximum of the range used to control the servo[1]
maxSpeed	float	≥ 0	maximum speed at which the motor moves from one position to the next[2]
initial	integer	(minAngle, maxAngle)	position on the value range that the motor will drive to on initialization
infoLED	String	–	ID of an LED, module will attempt to send commands to the LED to indicate when changes have been made by a user[3]

1. ↑The value range (minAngle,maxAngle) can be chosen freely and adjusted to suit the purpose. For example a symmetric 90° range (-45,45) or a percent range (0,100) can be used.
2. ↑Speed limit does not apply to first initialization, where the motor moves as fast as possible. Unit of measurement is that of the value range per second. Value of 0 means as fast as possible.
3. ↑Defaults to an empty String, in which case no attempts to operate the LED will be made.

Command Keys

key	type	range	description
move	integer	–	move the specified distance on the value range starting from the current position
moveTo	integer	(minAngle, maxAngle)	move to the specified position on the value range (absolute position)
binaryCtrl	boolean	–	move to minAngle if false and to maxAngle if true
hold	hold	–	keep motor powered after movement if true
identify	integer	> 0	highlight the hardware by its LED[4] for the specified time (in ms)

4. ↑ infoLED must be assigned, otherwise no LED will light up

Status

"controlId":"pinhole",
"status":
{
    "busy":false,
    "absolute":90,
    "relative":100
}

• busy – boolean, true if the motor is currently moving to a new position
• absolute – integer, current position of the motor on the value scale
• relative – float, current position of the motor as percentage of the total range

Events

• busy – occurs when the motor starts moving
• ready – occurs when the motor is done moving