class Servo – 3-wire hobby servo driver#

Servo objects control standard hobby servo motors with 3-wires (ground, power, signal).

Example usage:

import pyb

s1 = pyb.Servo(1)   # create a servo object on position P7
s2 = pyb.Servo(2)   # create a servo object on position P8

s1.angle(45)        # move servo 1 to 45 degrees
s2.angle(0)         # move servo 2 to 0 degrees

# move servo1 and servo2 synchronously, taking 1500ms
s1.angle(-60, 1500)
s2.angle(30, 1500)

Note

The Servo objects use Timer(5) to produce the PWM output. You can use Timer(5) for Servo control, or your own purposes, but not both at the same time.

Constructors#

class pyb.Servo(id: int)#

Create a servo object. id is the 1-based servo channel number; each channel is wired to a fixed header pin and the number of channels depends on the OpenMV Cam:

Camera

Servo(1)

Servo(2)

Servo(3)

OpenMV Cam M7 / H7

P7

P8

P9

OpenMV Cam M4 / H7 Plus / Pure Thermal

P7

P8

–

pyb.Servo is not available on the OpenMV Cam N6.

Methods#

angle(angle: int | None = None, time: int = 0) → int | None#

If no arguments are given, this function returns the current angle.

If arguments are given, this function sets the angle of the servo:

  • angle is the angle to move to in degrees.

  • time is the number of milliseconds to take to get to the specified angle. If omitted, then the servo moves as quickly as possible to its new position.

speed(speed: int | None = None, time: int = 0) → int | None#

If no arguments are given, this function returns the current speed.

If arguments are given, this function sets the speed of the servo:

  • speed is the speed to change to, between -100 and 100.

  • time is the number of milliseconds to take to get to the specified speed. If omitted, then the servo accelerates as quickly as possible.

pulse_width(value: int | None = None) → int | None#

If no arguments are given, this function returns the current raw pulse-width value.

If an argument is given, this function sets the raw pulse-width value.

calibration(pulse_min: int | None = None, pulse_max: int | None = None, pulse_centre: int | None = None, pulse_angle_90: int | None = None, pulse_speed_100: int | None = None) → Tuple[int, int, int, int, int] | None#

If no arguments are given, this function returns the current calibration data, as a 5-tuple.

If arguments are given, this function sets the timing calibration:

  • pulse_min is the minimum allowed pulse width.

  • pulse_max is the maximum allowed pulse width.

  • pulse_centre is the pulse width corresponding to the centre/zero position.

  • pulse_angle_90 is the pulse width corresponding to 90 degrees.

  • pulse_speed_100 is the pulse width corresponding to a speed of 100.