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