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easy-micropython-servo

A MicroPython library for controlling servos using the PWM and Timer modules.

Features

  • Supports current ESP32 boards such as ESP32-C3/C6, ESP8266, and other ESP boards
  • Allows to control the speed of the servo
  • Allows synchronous and asynchronous servo movements
  • Dynamic timer management based on the board type
  • Provides methods to stop and detach servos
  • Includes a method to check if the servo has reached its goal angle

Usage

Importing the Library

from easy-servo import Servo

Initializing a Servo

servo_pin_1 = 0  # Example pin for servo 1
servo_pin_2 = 1  # Example pin for servo 2

s1 = Servo(servo_pin_1, start=0, min_angle=0, max_angle=270, freq=50)
s2 = Servo(servo_pin_2, start=90, min_angle=0, max_angle=180, freq=50)

Moving a Servo

Synchronous Movement

s1.move(90)  # Move to 90 degrees
s2.move(45, speed=30)  # Move to 45 degrees at 30 degrees per second

Asynchronous Movement

s1.move(180, speed=30, async_mode=True)  # Move to 180 degrees asynchronously
s2.move(45, speed=15, async_mode=True)  # Move to 45 degrees asynchronously

# Wait while the servos are moving asynchronously
import time
time.sleep(10)

# Check if the goal is reached
if s1.goal_reached():
    print("Servo 1 has reached its goal.")
if s2.goal_reached():
    print("Servo 2 has reached its goal.")

Stopping a Servo

s1.stop()
s2.stop()

Detaching a Servo

s1.detach()
s2.detach()

API Reference

Servo Class

__init__(self, pin, start=0, *, min_angle=0, max_angle=180, freq=50, pulse_min=0.5, pulse_max=2.5)

Initializes the servo object.

  • pin: The pin to which the servo is connected.
  • start: Starting angle of the servo.
  • min_angle: Minimum angle of the servo in degrees.
  • max_angle: Maximum angle of the servo in degrees.
  • freq: PWM frequency.
  • pulse_min: Minimum pulse width in milliseconds.
  • pulse_max: Maximum pulse width in milliseconds.

move(self, target_angle, speed=None, async_mode=False)

Moves the servo to a specific angle.

  • target_angle: Target angle.
  • speed: Speed of movement in degrees per second.
  • async_mode: True for asynchronous movement, False for synchronous movement.

stop(self)

Stops the servo movement and releases the timer.

detach(self)

Detaches the servo.

goal_reached(self)

Checks if the servo has reached its target angle.

  • Returns True if the servo has reached its target angle, False otherwise.

Contributing

Contributions are welcome! Please open an issue or submit a pull request.

License

This project is licensed under the MIT License - see the LICENSE file for details.