New to micropython trying do animate Ironman mask for son

[Samiamjohnson1]

Good afternoon, 1 week ago I had never heard of Micro python. I am building an Ironman mask and my 14-year-old who decided he wanted the mask to open and close. I do have a background in SolidWorks, so i was able to make the required mechanism to open and close it. I had a raspberry Pico laying around from a 3d printer build so off I went.

After a lot of trial and error and web surfing i came up with 2 scripts.

the first one works perfect except the servo orientation make the 2 servos (MG90S) turn the same direction. but it does work with a button to open on first click and return to close on the second,

the second script does fix the rotating the same direction. but now with them rotating together opposite ways it travels from 0 to 180 and back to 0 with each click. I cannot get it to pause and wait for a second button click
his file runs both servos oppiste dirrection not smooth and does not stop.txt
this file runs both servos oppiste dirrection not smooth and does not stop.py
this one works best but both servos turn the same dirrection.py
this one works best but both servos turn the same dirrection.txt

I'm running out of time, any ideas would be AMAZING

[peterhinch]

The following function (as in your second code sample) moves both servos to the same angle:

def set_servo_angle(angle):
    """
    Set servo angle (0-180 degrees).
    Converts angle to duty cycle for PWM.
    """
    if not 0 <= angle <= 180:
        raise ValueError("Angle must be between 0 and 180")

    # Convert angle to duty cycle (ESP32/ESP8266: duty_u16 range 0-65535)
    min_us = 500   # pulse width for 0 degrees
    max_us = 2500  # pulse width for 180 degrees
    us = min_us + (max_us - min_us) * angle / 180
    duty = int(us / 20000 * 65535)  # 20ms period for 50Hz
    servo1.duty_u16(duty)
    servo2.duty_u16(duty)

To move them in opposition you need to calculate two duty cycles:

def set_servo_angle(angle):
    """
    Set servo angle (0-180 degrees).
    Converts angle to duty cycle for PWM.
    """
    if not 0 <= angle <= 180:
        raise ValueError("Angle must be between 0 and 180")

    # Convert angle to duty cycle (ESP32/ESP8266: duty_u16 range 0-65535)
    min_us = 500   # pulse width for 0 degrees
    max_us = 2500  # pulse width for 180 degrees
    us1 = min_us + (max_us - min_us) * angle / 180
    duty1 = int(us1 / 20000 * 65535)  # 20ms period for 50Hz
    us2 = min_us + (max_us - min_us) * (180 - angle) / 180
    duty2 = int(us2 / 20000 * 65535)  # 20ms period for 50Hz
    servo1.duty_u16(duty1)
    servo2.duty_u16(duty2)

[sosi-deadeye]

Based on @peterhinch's example:

Code is not tested.

import time

from machine import Pin, Signal, PWM


SERVO1_PIN = 11
SERVO2_PIN = 14
BUTTON_PIN = 2
FREQ = 50


class Servo:
    def __init__(signal_pin, frequency = FREQ):
        self.pwm = PWM(Pin(signal_pin), freq=frequency, duty_u16=0)

    def __call__(angle):
        """
        Set servo angle (0-180 degrees).
        Converts angle to duty cycle for PWM.
        """
        if not 0 <= angle <= 180:
            raise ValueError("Angle must be between 0 and 180")

        min_us = 500   # pulse width for 0 degrees
        max_us = 2500  # pulse width for 180 degrees
        us = min_us + (max_us - min_us) * angle / 180
        duty = int(us / 20000 * 65535)  # 20ms period for 50Hz
        self.pwm.duty_u16(duty)
    
    def stop(self):
        self.pwm.duty_u16(0)


def main(servo1, servo2, button):
    # start position
    servo1(0)
    servo2(0)

    # loop to poll button and set angle of servo1 and servo2
    while True:
        time.sleep_ms(10)
        # sleep longer, if the button bounces
        
        if button():
            servo1(180)
            servo2(180)
        else:
            servo1(0)
            servo2(0)


if __name__ == "__main__":
    servo1 = Servo(SERVO1_PIN)
    servo2 = Servo(SERVO2_PIN)
    
    # using Signal directly instead of Pin to invert the signal
    # https://docs.micropython.org/en/latest/library/machine.Signal.html#constructors
    button = Signal(BUTTON_PIN, Pin.IN, pull=Pin.PULL_UP, invert=True)
    
    # let you control servo1, servo2 and use button after
    # CTRL+C
    # The main function takes the 2 Servo instances and the button
    
    try:
        # no loop here,
        # it's inside main()
        main(servo1, servo2, button)
        
    except KeyboadInterrupt:
        servo1.stop()
        servo2.stop()