0a4cc24b2e
Makes sure that classes described in these separate files are properly designated as belonging to "pyb" module in indexes.
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:: pyb.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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