1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
|
.. _pyb.Servo:
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
------------
.. class:: pyb.Servo(id)
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.
|
