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-
-
- from machine import Pin, PWM
-
- class Servo:
- """ A simple class for controlling a 9g servo with the Raspberry Pi Pico.
- Attributes:
- minVal: An integer denoting the minimum duty value for the servo motor.
- maxVal: An integer denoting the maximum duty value for the servo motor.
- """
-
- def __init__(self, pin: int or Pin or PWM, minVal=2500, maxVal=7500):
- """ Creates a new Servo Object.
- args:
- pin (int or machine.Pin or machine.PWM): Either an integer denoting the number of the GPIO pin or an already constructed Pin or PWM object that is connected to the servo.
- minVal (int): Optional, denotes the minimum duty value to be used for this servo.
- maxVal (int): Optional, denotes the maximum duty value to be used for this servo.
- """
-
- if isinstance(pin, int):
- pin = Pin(pin, Pin.OUT)
- if isinstance(pin, Pin):
- self.__pwm = PWM(pin)
- if isinstance(pin, PWM):
- self.__pwm = pin
- self.__pwm.freq(50)
- self.minVal = minVal
- self.maxVal = maxVal
-
- def deinit(self):
- """ Deinitializes the underlying PWM object.
- """
- self.__pwm.deinit()
-
- def goto(self, value: int):
- """ Moves the servo to the specified position.
- args:
- value (int): The position to move to, represented by a value from 0 to 1024 (inclusive).
- """
- if value < 0:
- value = 0
- if value > 1024:
- value = 1024
- delta = self.maxVal-self.minVal
- target = int(self.minVal + ((value / 1024) * delta))
- self.__pwm.duty_u16(target)
-
- def middle(self):
- """ Moves the servo to the middle.
- """
- self.goto(512)
-
- def free(self):
- """ Allows the servo to be moved freely.
- """
- self.__pwm.duty_u16(0)
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