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= Servo Library for ESP32 = | ||
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This library attempts to faithfully replicate the semantics of the | ||
Arduino Servo library (see http://www.arduino.cc/en/Reference/Servo) | ||
for the ESP32, with two (optional) additions. The two new functions | ||
expose the ability of the ESP32 PWM timers to vary timer width. | ||
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== License == | ||
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Copyright (c) 2017 John K. Bennett. All right reserved. | ||
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This library is free software; you can redistribute it and/or | ||
modify it under the terms of the GNU Lesser General Public | ||
License as published by the Free Software Foundation; either | ||
version 2.1 of the License, or (at your option) any later version. | ||
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This library is distributed in the hope that it will be useful, | ||
but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
Lesser General Public License for more details. | ||
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You should have received a copy of the GNU Lesser General Public | ||
License along with this library; if not, write to the Free Software | ||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | ||
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Library Description: | ||
-------------------- | ||
Servo - Class for manipulating servo motors connected to ESP32 pins. | ||
int attach(pin ) - Attaches the given GPIO pin to the next free channel | ||
(channels that have previously been detached are used first), | ||
returns channel number or 0 if failure. All pin numbers are allowed, | ||
but only pins 2,4,12-19,21-23,25-27,32-33 are recommended. | ||
int attach(pin, min, max ) - Attaches to a pin setting min and max | ||
values in microseconds; enforced minimum min is 500, enforced max | ||
is 2500. Other semantics are the same as attach(). | ||
void write () - Sets the servo angle in degrees; a value below 500 is | ||
treated as a value in degrees (0 to 180). These limit are enforced, | ||
i.e., values are constrained as follows: | ||
Value Becomes | ||
----- ------- | ||
< 0 0 | ||
0 - 180 value (treated as degrees) | ||
181 - 499 180 | ||
500 - (min-1) min | ||
min-max (from attach or default) value (treated as microseconds) | ||
(max+1) - 2500 max | ||
void writeMicroseconds() - Sets the servo pulse width in microseconds. | ||
min and max are enforced (see above). | ||
int read() - Gets the last written servo pulse width as an angle between 0 and 180. | ||
int readMicroseconds() - Gets the last written servo pulse width in microseconds. | ||
bool attached() - Returns true if this servo instance is attached to a pin. | ||
void detach() - Stops an the attached servo, frees the attached pin, and frees | ||
its channel for reuse. | ||
*** New ESP32-specific functions ** | ||
setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY); | ||
as a side effect, the pulse width is recomputed. | ||
int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY) | ||
Useful Defaults: | ||
---------------- | ||
default min pulse width for attach(): 1000us | ||
default max pulse width for attach(): 2000us | ||
default timer width 16 (if timer width is not set) | ||
default pulse width 1500us (servos are initialized with this value) | ||
MINIMUM pulse with: 500us | ||
MAXIMUM pulse with: 2500us | ||
MAXIMUM number of servos: 16 (this is the number of PWM channels in the ESP32) |
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/* | ||
Controlling a servo position using a potentiometer (variable resistor) | ||
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott> | ||
modified on 8 Nov 2013 | ||
by Scott Fitzgerald | ||
modified for the ESP32 on March 2017 | ||
by John Bennett | ||
see http://www.arduino.cc/en/Tutorial/Knob for a desription of the original code | ||
* Different servos require different pulse widths to vary servo angle, but the range is | ||
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos | ||
* sweep 180 degrees, so the lowest number in the published range for a particular servo | ||
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top | ||
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, | ||
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 | ||
* degrees. | ||
* | ||
* Circuit: (using an ESP32 Thing from Sparkfun) | ||
* Servo motors have three wires: power, ground, and signal. The power wire is typically red, | ||
* the ground wire is typically black or brown, and the signal wire is typically yellow, | ||
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw | ||
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located | ||
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. | ||
* | ||
* We could also connect servo power to a separate external | ||
* power source (as long as we connect all of the grounds (ESP32, servo, and external power). | ||
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins | ||
* connect to any available GPIO pins on the ESP32 (in this example, we use pin 18. | ||
* | ||
* In this example, we assume a Tower Pro SG90 small servo connected to VBat. | ||
* The published min and max for this servo are 500 and 2400, respectively. | ||
* These values actually drive the servos a little past 0 and 180, so | ||
* if you are particular, adjust the min and max values to match your needs. | ||
*/ | ||
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// Include the ESP32 Arduino Servo Library instead of the original Arduino Servo Library | ||
#include <ESP32_Servo.h> | ||
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Servo myservo; // create servo object to control a servo | ||
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// Possible PWM GPIO pins on the ESP32: 0(used by on-board button),2,4,5(used by on-board LED),12-19,21-23,25-27,32-33 | ||
int servoPin = 18; // GPIO pin used to connect the servo control (digital out) | ||
// Possible ADC pins on the ESP32: 0,2,4,12-15,32-39; 34-39 are recommended for analog input | ||
int potPin = 34; // GPIO pin used to connect the potentiometer (analog in) | ||
int ADC_Max = 4096; // This is the default ADC max value on the ESP32 (12 bit ADC width); | ||
// this width can be set (in low-level oode) from 9-12 bits, for a | ||
// a range of max values of 512-4096 | ||
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int val; // variable to read the value from the analog pin | ||
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void setup() | ||
{ | ||
myservo.attach(servoPin, 500, 2400); // attaches the servo on pin 18 to the servo object | ||
// using SG90 servo min/max of 500us and 2400us | ||
// for MG995 large servo, use 1000us and 2000us, | ||
// which are the defaults, so this line could be | ||
// "myservo.attach(servoPin);" | ||
} | ||
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void loop() { | ||
val = analogRead(potPin); // read the value of the potentiometer (value between 0 and 1023) | ||
val = map(val, 0, ADC_Max, 0, 180); // scale it to use it with the servo (value between 0 and 180) | ||
myservo.write(val); // set the servo position according to the scaled value | ||
delay(200); // wait for the servo to get there | ||
} | ||
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examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino
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/* | ||
* ESP32 Servo Example Using Arduino ESP32 Servo Library | ||
* John K. Bennett | ||
* March, 2017 | ||
* | ||
* This sketch uses the Arduino ESP32 Servo Library to sweep 4 servos in sequence. | ||
* | ||
* Different servos require different pulse widths to vary servo angle, but the range is | ||
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos | ||
* sweep 180 degrees, so the lowest number in the published range for a particular servo | ||
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top | ||
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, | ||
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 | ||
* degrees. | ||
* | ||
* Circuit: | ||
* Servo motors have three wires: power, ground, and signal. The power wire is typically red, | ||
* the ground wire is typically black or brown, and the signal wire is typically yellow, | ||
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw | ||
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located | ||
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. | ||
* | ||
* We could also connect servo power to a separate external | ||
* power source (as long as we connect all of the grounds (ESP32, servo, and external power). | ||
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins | ||
* connect to any available GPIO pins on the ESP32 (in this example, we use pins | ||
* 22, 19, 23, & 18). | ||
* | ||
* In this example, we assume four Tower Pro SG90 small servos. | ||
* The published min and max for this servo are 500 and 2400, respectively. | ||
* These values actually drive the servos a little past 0 and 180, so | ||
* if you are particular, adjust the min and max values to match your needs. | ||
* Experimentally, 550 and 2350 are pretty close to 0 and 180. | ||
*/ | ||
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#include <ESP32_Servo.h> | ||
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// create four servo objects | ||
Servo servo1; | ||
Servo servo2; | ||
Servo servo3; | ||
Servo servo4; | ||
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// Published values for SG90 servos; adjust if needed | ||
int minUs = 500; | ||
int maxUs = 2400; | ||
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// These are all GPIO pins on the ESP32 | ||
// Reccomended pins include 2,4,12-19,21-23,25-27,32-33 | ||
int servo1Pin = 18; | ||
int servo2Pin = 19; | ||
int servo3Pin = 22; | ||
int servo4Pin = 23; | ||
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int pos = 0; // position in degrees | ||
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void setup() | ||
{ | ||
servo1.attach(servo1Pin, minUs, maxUs); | ||
servo2.attach(servo2Pin, minUs, maxUs); | ||
servo3.attach(servo3Pin, minUs, maxUs); | ||
servo4.attach(servo4Pin, minUs, maxUs); | ||
} | ||
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void loop() { | ||
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees | ||
// in steps of 1 degree | ||
servo1.write(pos); | ||
delay(20); // waits 20ms for the servo to reach the position | ||
} | ||
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees | ||
servo1.write(pos); | ||
delay(20); | ||
} | ||
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for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees | ||
// in steps of 1 degree | ||
servo2.write(pos); | ||
delay(20); // waits 20ms for the servo to reach the position | ||
} | ||
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees | ||
servo2.write(pos); | ||
delay(20); | ||
} | ||
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for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees | ||
// in steps of 1 degree | ||
servo3.write(pos); | ||
delay(20); // waits 20ms for the servo to reach the position | ||
} | ||
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees | ||
servo3.write(pos); | ||
delay(20); | ||
} | ||
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for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees | ||
// in steps of 1 degree | ||
servo4.write(pos); | ||
delay(20); // waits 20ms for the servo to reach the position | ||
} | ||
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees | ||
servo4.write(pos); | ||
delay(20); | ||
} | ||
} | ||
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examples/Multiple-Servo-Example-ESP32/Multiple-Servo-Example-ESP32.ino
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/* | ||
* ESP32 Servo Example | ||
* John K. Bennett | ||
* March, 2017 | ||
* | ||
* This sketch uses low-level ESP32 PWM functionality to sweep 4 servos in sequence. | ||
* It does NOT use the ESP32_Servo library for Arduino. | ||
* | ||
* The ESP32 supports 16 hardware LED PWM channels that are intended | ||
* to be used for LED brightness control. The low level ESP32 code allows us to set the | ||
* PWM frequency and bit-depth, and then control them by setting bits in the relevant control | ||
* register. The core files esp32-hal-ledc.* provides helper functions to make this set up | ||
* straightforward. | ||
* | ||
* Different servos require different pulse widths to vary servo angle, but the range is | ||
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos | ||
* sweep 180 degrees, so the lowest number in the published range for a particular servo | ||
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top | ||
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, | ||
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 | ||
* degrees. | ||
* | ||
* The ESP32 PWM timers allow us to set the timer width (max 20 bits). Thus | ||
* the timer "tick" length is (pulse_period/2**timer_width), and the equation for pulse_high_width | ||
* (the portion of cycle (20ms in our case) that the signal is high) becomes: | ||
* | ||
* pulse_high_width = count * tick_length | ||
* = count * (pulse_period/2**timer_width) | ||
* | ||
* and count = (pulse_high_width / (pulse_period/2**timer_width)) | ||
* | ||
* For example, if we want a 1500us pulse_high_width, we set pulse_period to 20ms (20000us) | ||
* (this value is set in the ledcSetup call), and count (used in the ledcWrite call) to | ||
* 1500/(20000/65655), or 4924. This is the value we write to the timer in the ledcWrite call. | ||
* | ||
* As a concrete example, suppose we want to repeatedly sweep four Tower Pro SG90 servos | ||
* from 0 to 180 degrees. The published pulse width range for the SG90 is 500-2400us. Thus, | ||
* we should vary the count used in ledcWrite from 1638 to 7864. | ||
* | ||
* Circuit: | ||
* Servo motors have three wires: power, ground, and signal. The power wire is typically red, | ||
* the ground wire is typically black or brown, and the signal wire is typically yellow, | ||
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw | ||
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located | ||
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. | ||
* | ||
* We could also connect servo power to a separate external | ||
* power source (as long as we connect all of the grounds (ESP32, servo, and external power). | ||
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins | ||
* connect to any available GPIO pins on the ESP32 (in this example, we use pins | ||
* 22, 19, 23, & 18). | ||
* | ||
* In this example, we assume four Tower Pro SG90 small servos. | ||
* The published min and max for this servo are 500 and 2400, respectively. | ||
* These values actually drive the servos a little past 0 and 180, so | ||
* if you are particular, adjust the min and max values to match your needs. | ||
* Experimentally, 550us and 2350us are pretty close to 0 and 180. | ||
* | ||
* This code was inspired by a post on Hackaday by Elliot Williams. | ||
*/ | ||
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// Values for TowerPro SG90 small servos; adjust if needed | ||
#define COUNT_LOW 1638 | ||
#define COUNT_HIGH 7864 | ||
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#define TIMER_WIDTH 16 | ||
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#include "esp32-hal-ledc.h" | ||
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void setup() { | ||
ledcSetup(1, 50, TIMER_WIDTH); // channel 1, 50 Hz, 16-bit width | ||
ledcAttachPin(22, 1); // GPIO 22 assigned to channel 1 | ||
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ledcSetup(2, 50, TIMER_WIDTH); // channel 2, 50 Hz, 16-bit width | ||
ledcAttachPin(19, 2); // GPIO 19 assigned to channel 2 | ||
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ledcSetup(3, 50, TIMER_WIDTH); // channel 3, 50 Hz, 16-bit width | ||
ledcAttachPin(23, 3); // GPIO 23 assigned to channel 3 | ||
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ledcSetup(4, 50, TIMER_WIDTH); // channel 4, 50 Hz, 16-bit width | ||
ledcAttachPin(18, 4); // GPIO 18 assigned to channel 4 | ||
} | ||
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void loop() { | ||
for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100) | ||
{ | ||
ledcWrite(1, i); // sweep servo 1 | ||
delay(200); | ||
} | ||
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for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100) | ||
{ | ||
ledcWrite(2, i); // sweep servo 2 | ||
delay(200); | ||
} | ||
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for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100) | ||
{ | ||
ledcWrite(3, i); // sweep the servo | ||
delay(200); | ||
} | ||
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for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100) | ||
{ | ||
ledcWrite(4, i); // sweep the servo | ||
delay(200); | ||
} | ||
} | ||
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