Skip to content

Latest commit

 

History

History
80 lines (52 loc) · 2.67 KB

pyb.Servo.rst

File metadata and controls

80 lines (52 loc) · 2.67 KB
Raw
.. currentmodule:: pyb

class Servo -- 3-wire hobby servo driver

Servo objects control standard hobby servo motors with 3-wires (ground, power, signal). There are 4 positions on the pyboard where these motors can be plugged in: pins X1 through X4 are the signal pins, and next to them are 4 sets of power and ground pins.

Example usage:

import pyb

s1 = pyb.Servo(1)   # create a servo object on position X1
s2 = pyb.Servo(2)   # create a servo object on position X2

s1.angle(45)        # move servo 1 to 45 degrees
s2.angle(0)         # move servo 2 to 0 degrees

# move servo1 and servo2 synchronously, taking 1500ms
s1.angle(-60, 1500)
s2.angle(30, 1500)

Note

The Servo objects use Timer(5) to produce the PWM output. You can use Timer(5) for Servo control, or your own purposes, but not both at the same time.

Constructors

Create a servo object. id is 1-4, and corresponds to pins X1 through X4.

Methods

.. method:: Servo.angle([angle, time=0])

   If no arguments are given, this function returns the current angle.

   If arguments are given, this function sets the angle of the servo:

     - ``angle`` is the angle to move to in degrees.
     - ``time`` is the number of milliseconds to take to get to the specified
       angle.  If omitted, then the servo moves as quickly as possible to its
       new position.


.. method:: Servo.speed([speed, time=0])

   If no arguments are given, this function returns the current speed.

   If arguments are given, this function sets the speed of the servo:

     - ``speed`` is the speed to change to, between -100 and 100.
     - ``time`` is the number of milliseconds to take to get to the specified
       speed.  If omitted, then the servo accelerates as quickly as possible.


.. method:: Servo.pulse_width([value])

   If no arguments are given, this function returns the current raw pulse-width
   value.

   If an argument is given, this function sets the raw pulse-width value.


.. method:: Servo.calibration([pulse_min, pulse_max, pulse_centre, [pulse_angle_90, pulse_speed_100]])

   If no arguments are given, this function returns the current calibration
   data, as a 5-tuple.

   If arguments are given, this function sets the timing calibration:

     - ``pulse_min`` is the minimum allowed pulse width.
     - ``pulse_max`` is the maximum allowed pulse width.
     - ``pulse_centre`` is the pulse width corresponding to the centre/zero position.
     - ``pulse_angle_90`` is the pulse width corresponding to 90 degrees.
     - ``pulse_speed_100`` is the pulse width corresponding to a speed of 100.