class Servo -- 3-wire hobby servo driver¶
Servo objects control standard hobby servo motors with 3-wires (ground, power, signal). There are 4 positions on the pyboard where these motors can be plugged in: pins X1 through X4 are the signal pins, and next to them are 4 sets of power and ground pins.
使用例:
import pyb
s1 = pyb.Servo(1) # create a servo object on position X1
s2 = pyb.Servo(2) # create a servo object on position X2
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)
注釈
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.
コンストラクタ¶
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class
pyb.
Servo
(id)¶ Create a servo object.
id
is 1-4, and corresponds to pins X1 through X4.
メソッド¶
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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.
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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.
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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.
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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.