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.

用法范例： 

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)

注意

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.

构造函数

class pyb. Servo ( id )

Create a servo object. id is 1-4, and corresponds to pins X1 through X4.

方法

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 ( [ 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 ( [ 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 ( [ 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.