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Servos
Jessica Janiuk edited this page Jun 25, 2026
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1 revision
The Amidala PCB provides four servo channels driven by the ESP32-S3's LEDC PWM peripheral.
| Channel | GPIO | PCB Header |
|---|---|---|
| S1 | 3 | Digital 8 |
| S2 | 4 | Digital 7 |
| S3 | 5 | Digital 6 |
| S4 | 6 | Digital 5 |
For PWM-based drive systems: S1 = right motor, S2 = left motor, S4 = dome PWM.
Each servo channel can be configured with:
| Setting | Description |
|---|---|
| Min Pulse | Pulse width (µs) corresponding to the servo's minimum position |
| Max Pulse | Pulse width (µs) corresponding to the servo's maximum position |
| Default Position | Starting position (0–100%) on boot |
| Invert | Reverse the direction of travel |
Servos can be triggered by button or gesture actions. When configuring a button with the Servo action, you specify:
- Which servo channel (1–4)
- Target position (0–100%)
- Transition speed (optional)