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1.3.2 Servo¶

Introduction¶

In this project, we will learn how to make the servo rotate.

Required Components¶

In this project, we need the following components.

It’s definitely convenient to buy a whole kit, here’s the link:

Name	ITEMS IN THIS KIT	LINK
Raphael Kit	337	Raphael Kit

You can also buy them separately from the links below.

COMPONENT INTRODUCTION	PURCHASE LINK
GPIO Extension Board	BUY
Breadboard	BUY
Jumper Wires	BUY
Servo	BUY

Schematic Diagram¶

Experimental Procedures¶

Step 1: Build the circuit.

Step 2: Go to the folder of the code.

cd ~/raphael-kit/python/

Step 3: Run the executable file.

sudo python3 1.3.2_Servo.py

After the program is executed, the servo will rotate from 0 degrees to 180 degrees, and then from 180 degrees to 0 degrees, circularly.

Code

Note

You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like raphael-kit/python. After modifying the code, you can run it directly to see the effect.

import RPi.GPIO as GPIO
import time

SERVO_MIN_PULSE = 500
SERVO_MAX_PULSE = 2500
ServoPin = 18

def map(value, inMin, inMax, outMin, outMax):
    return (outMax - outMin) * (value - inMin) / (inMax - inMin) + outMin

def setup():
    global p
    GPIO.setmode(GPIO.BCM)       # Numbers GPIOs by BCM
    GPIO.setup(ServoPin, GPIO.OUT)   # Set ServoPin's mode is output
    GPIO.output(ServoPin, GPIO.LOW)  # Set ServoPin to low
    p = GPIO.PWM(ServoPin, 50)     # set Frequecy to 50Hz
    p.start(0)                     # Duty Cycle = 0

def setAngle(angle):      # make the servo rotate to specific angle (0-180 degrees)
    angle = max(0, min(180, angle))
    pulse_width = map(angle, 0, 180, SERVO_MIN_PULSE, SERVO_MAX_PULSE)
    pwm = map(pulse_width, 0, 20000, 0, 100)
    p.ChangeDutyCycle(pwm)#map the angle to duty cycle and output it
def loop():
    while True:
        for i in range(0, 181, 5):   #make servo rotate from 0 to 180 deg
            setAngle(i)     # Write to servo
            time.sleep(0.002)
        time.sleep(1)
        for i in range(180, -1, -5): #make servo rotate from 180 to 0 deg
            setAngle(i)
            time.sleep(0.001)
        time.sleep(1)
def destroy():
    p.stop()
    GPIO.cleanup()

if __name__ == '__main__':     #Program start from here
    setup()
    try:
        loop()
    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the program destroy() will be executed.
        destroy()

Code Explanation

p = GPIO.PWM(ServoPin, 50)     # set Frequecy to 50Hz
p.start(0)                     # Duty Cycle = 0

Set the servoPin to PWM pin, then the frequency to 50hz, and the period to 20ms.

p.start(0): Run the PWM function，and set the initial value to 0.

def setAngle(angle):      # make the servo rotate to specific angle (0-180 degrees)
    angle = max(0, min(180, angle))
    pulse_width = map(angle, 0, 180, SERVO_MIN_PULSE, SERVO_MAX_PULSE)
    pwm = map(pulse_width, 0, 20000, 0, 100)
    p.ChangeDutyCycle(pwm)#map the angle to duty cycle and output it

Create a function, setAngle() to write angle that ranges from 0 to 180 into the servo.

angle = max(0, min(180, angle))

This code is used to limit the angle within the range 0-180°.

The min() function returns the minimum of the input values. If 180<angle, then return 180,if not, return angle.

The max() method returns the maximum element in an iterable or largest of two or more parameters. If 0>angle, then return 0, if not, return angle.

pulse_width = map(angle, 0, 180, SERVO_MIN_PULSE, SERVO_MAX_PULSE)
pwm = map(pulse_width, 0, 20000, 0, 100)
p.ChangeDutyCycle(pwm)

To render a range 0 ~ 180 ° to the servo, the pulse width of the servo is set to 0.5ms(500us)-2.5ms(2500us).

The period of PWM is 20ms(20000us), thus the duty cycle of PWM is (500/20000)%-(2500/20000)%, and the range 0 ~ 180 is mapped to 2.5 ~ 12.5.

1.3.2 Servo¶

Introduction¶

Required Components¶

Schematic Diagram¶

Experimental Procedures¶

Phenomenon Picture¶