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)

Constructors

pyb.Servo

class pyb.Servo(id)

Create a servo object. id is 1-3, and corresponds to pins P7 through P9.

Methods

Servo.angle

Servo.angle([angle, time=0])

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.

Servo.speed

Servo.speed([speed, time=0])

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.

Servo.pulse_width

Servo.pulse_width([value])

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.

Servo.calibration

Servo.calibration([pulse_min, pulse_max, pulse_centre, [pulse_angle_90, pulse_speed_100]])

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.