Servo Calibration
The goal if this step is to make sure we know exactly at which pulse width the servo moves to which angle create a table for that and feed this information to our lidar system later on to be able to accurately control the servos.
This step will be done on both servos since both of them might yield different results.
Coming straight from the manufacturer website and some blogs i got the following params:
- Dead band width = 1us
- PWM Frequency = 50Hz
I am using the PCA9685 to create the pulse width modulation for the servo.
Since the frequency is set to 50Hz and the PCA9685 divides the pulse to 4096 steps that we can tell the driver at which step we are high and which step we are low giving a step width of 4.88us.