This example shows how to find the current position and use that to "seek" to a specific angle. Be sure to run the calibration program from the previous section first and change these lines at the top of the code with your servo's values:
# Calibration setup CALIB_MIN = 15377 CALIB_MAX = 42890
If you calibrated over a different range of angles, also change those lines to match.
Here's the complete code listing:
# SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
#
# SPDX-License-Identifier: MIT
# Example code for using analog feedback value to seek a position
import time
import board
import pwmio
from analogio import AnalogIn
from simpleio import map_range
from adafruit_motor import servo
# Demo angles
angles = [0, 180, 0, 45, 180]
# Pin setup
SERVO_PIN = board.A1
FEEDBACK_PIN = board.A3
# Calibration setup
CALIB_MIN = 15377
CALIB_MAX = 42890
ANGLE_MIN = 0
ANGLE_MAX = 180
# Setup servo
pwm = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
servo = servo.Servo(pwm)
servo.angle = None
# Setup feedback
feedback = AnalogIn(FEEDBACK_PIN)
def get_position():
'''Turns analog feedback raw ADC value into angle.'''
return map_range(feedback.value, CALIB_MIN, CALIB_MAX, ANGLE_MIN, ANGLE_MAX)
def seek_position(position, tolerance=2):
'''Move to specified angle and wait until move is complete.'''
servo.angle = position
while abs(get_position() - position) > tolerance:
pass
print("Servo feedback seek example.")
for angle in angles:
print("Moving to {}...".format(angle), end="")
start = time.monotonic()
seek_position(angle)
end = time.monotonic()
print("Done. Move took {} seconds.".format(end-start))
print("Pausing for 1 second.")
time.sleep(1)
# Deactivate servo
print("Finished. Deactivating servo.")
servo.angle = None
When the code runs, the servo will move to the specified angles. The amount of time it took to get there will also be shown.
Text editor powered by tinymce.
