This example will let you record servo positions that you manually move to and then play them back. A few extra hardware items are needed:
- 2x push buttons
- 1x LED, any color
- 1x resistor, 220ohm (or anything higher)
Here's a Fritzing diagram of the wiring setup.
Button functions are:
- Left button (yellow wire) - start/stop recording. The LED will be ON during recording.
- Right button (blue wire) - start/stop play back of recorded positions.
Be sure to run the calibration program first and change these lines at the top of the code with your servo's values.
# Record setup CALIB_MIN = 15377 CALIB_MAX = 42890
Here's the complete code listing:
# SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
#
# SPDX-License-Identifier: MIT
# Example code for recording and playing back servo motion with a
# analog feedback servo
# pylint: disable=redefined-outer-name
import time
import board
import pwmio
import keypad
from simpleio import map_range
from adafruit_motor import servo
from analogio import AnalogIn
from digitalio import DigitalInOut, Direction
# Pin setup
RECORD_PIN = board.D10
PLAY_PIN = board.D9
LED_PIN = board.D13
SERVO_PIN = board.A1
FEEDBACK_PIN = board.A3
# Record setup
CALIB_MIN = 15377
CALIB_MAX = 42890
ANGLE_MIN = 0
ANGLE_MAX = 180
SAMPLE_COUNT = 512
SAMPLE_DELAY = 0.025
# Setup buttons
buttons = keypad.Keys((RECORD_PIN, PLAY_PIN), value_when_pressed=False, pull=True)
# Setup LED
led = DigitalInOut(LED_PIN)
led.direction = Direction.OUTPUT
led.value = False
# 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)
# Servo positions stored here
position = [None]*SAMPLE_COUNT
print("Servo RecordPlay")
def play_servo():
print("Playing...", end="")
count = 0
while True:
print(".", end="")
event = buttons.events.get()
if event:
if event.pressed and event.key_number == 1:
break
angle = position[count]
if angle is None:
break
servo.angle = angle
count += 1
if count >= SAMPLE_COUNT:
break
time.sleep(SAMPLE_DELAY)
print("Done.")
servo.angle = None
time.sleep(0.250)
def record_servo():
for i in range(len(position)):
position[i] = None
servo.angle = None
led.value = True
print("Recording...", end="")
count = 0
while True:
print(".", end='')
event = buttons.events.get()
if event:
if event.pressed and event.key_number == 0:
break
position[count] = map_range(feedback.value, CALIB_MIN, CALIB_MAX, ANGLE_MIN, ANGLE_MAX)
count += 1
if count >= SAMPLE_COUNT:
break
time.sleep(SAMPLE_DELAY)
led.value = False
print("Done.")
time.sleep(0.250)
while True:
event = buttons.events.get()
if event:
if event.pressed:
if event.key_number == 0:
record_servo()
elif event.key_number == 1:
play_servo()
Once running, press and release the record button. Now grab the servo arm and move it around gently and not too fast. You can stop recording by pressing the record button again. Otherwise recording will continue until the entire record buffer is filled up.
To play back what you have recorded, simply press the play button.
