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0x1abin
41 lines
1.4 KiB
Python
41 lines
1.4 KiB
Python
from machine import PWM
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import math
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class Servo:
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"""
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A simple class for controlling hobby servos.
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Args:
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pin (machine.Pin): The pin where servo is connected. Must support PWM.
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freq (int): The frequency of the signal, in hertz.
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min_us (int): The minimum signal length supported by the servo.
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max_us (int): The maximum signal length supported by the servo.
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angle (int): The angle between the minimum and maximum positions.
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"""
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def __init__(self, pin, freq=50, min_us=600, max_us=2400, angle=180):
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self.min_us = min_us
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self.max_us = max_us
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self.us = 0
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self.freq = freq
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self.angle = angle
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self.pwm = PWM(pin, freq=freq, duty=0)
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def write_us(self, us):
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"""Set the signal to be ``us`` microseconds long. Zero disables it."""
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if us == 0:
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self.pwm.duty(0)
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return
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us = min(self.max_us, max(self.min_us, us))
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duty = us * 100 * self.freq // 1000000
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self.pwm.duty(duty)
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def write_angle(self, degrees=None, radians=None):
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"""Move to the specified angle in ``degrees`` or ``radians``."""
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if degrees is None:
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degrees = math.degrees(radians)
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degrees = degrees % 360
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total_range = self.max_us - self.min_us
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us = self.min_us + total_range * degrees // self.angle
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self.write_us(us) |