81 lines
2.7 KiB
ReStructuredText
81 lines
2.7 KiB
ReStructuredText
.. currentmodule:: pyb
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.. _pyb.Servo:
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class Servo -- 3-wire hobby servo driver
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========================================
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Servo objects control standard hobby servo motors with 3-wires (ground, power,
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signal). There are 4 positions on the pyboard where these motors can be plugged
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in: pins X1 through X4 are the signal pins, and next to them are 4 sets of power
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and ground pins.
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Example usage::
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import pyb
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s1 = pyb.Servo(1) # create a servo object on position X1
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s2 = pyb.Servo(2) # create a servo object on position X2
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s1.angle(45) # move servo 1 to 45 degrees
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s2.angle(0) # move servo 2 to 0 degrees
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# move servo1 and servo2 synchronously, taking 1500ms
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s1.angle(-60, 1500)
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s2.angle(30, 1500)
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.. note:: The Servo objects use Timer(5) to produce the PWM output. You can
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use Timer(5) for Servo control, or your own purposes, but not both at the
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same time.
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Constructors
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------------
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.. class:: Servo(id)
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Create a servo object. ``id`` is 1-4, and corresponds to pins X1 through X4.
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Methods
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-------
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.. method:: Servo.angle([angle, time=0])
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If no arguments are given, this function returns the current angle.
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If arguments are given, this function sets the angle of the servo:
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- ``angle`` is the angle to move to in degrees.
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- ``time`` is the number of milliseconds to take to get to the specified
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angle. If omitted, then the servo moves as quickly as possible to its
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new position.
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.. method:: Servo.speed([speed, time=0])
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If no arguments are given, this function returns the current speed.
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If arguments are given, this function sets the speed of the servo:
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- ``speed`` is the speed to change to, between -100 and 100.
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- ``time`` is the number of milliseconds to take to get to the specified
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speed. If omitted, then the servo accelerates as quickly as possible.
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.. method:: Servo.pulse_width([value])
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If no arguments are given, this function returns the current raw pulse-width
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value.
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If an argument is given, this function sets the raw pulse-width value.
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.. method:: Servo.calibration([pulse_min, pulse_max, pulse_centre, [pulse_angle_90, pulse_speed_100]])
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If no arguments are given, this function returns the current calibration
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data, as a 5-tuple.
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If arguments are given, this function sets the timing calibration:
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- ``pulse_min`` is the minimum allowed pulse width.
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- ``pulse_max`` is the maximum allowed pulse width.
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- ``pulse_centre`` is the pulse width corresponding to the centre/zero position.
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- ``pulse_angle_90`` is the pulse width corresponding to 90 degrees.
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- ``pulse_speed_100`` is the pulse width corresponding to a speed of 100.
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