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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-pi5

Step 3: Run the executable file.

sudo python3 1.3.2_Servo_zero.py

After the program is executed, the servo will rotate from 0 degrees to 90 to 180 degrees, and then from 180 degrees to 90 to 0 degrees, in a circle.

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-pi5. After modifying the code, you can run it directly to see the effect.

#!/usr/bin/env python3
from gpiozero import Servo
from time import sleep

# Set the GPIO pin number where the servo motor is connected
myGPIO = 18

# Define a correction factor to fine-tune servo pulse width
myCorrection = 0.45
maxPW = (2.0 + myCorrection) / 1000  # Calculate maximum pulse width
minPW = (1.0 - myCorrection) / 1000  # Calculate minimum pulse width

# Initialize the Servo object with custom pulse widths
servo = Servo(myGPIO, min_pulse_width=minPW, max_pulse_width=maxPW)

try:
    while True:
        # Position the servo at the middle and wait
        servo.mid()
        print("mid")  # Indicate current position
        sleep(0.5)    # Brief pause for 0.5 seconds

        # Move the servo to its minimum position and wait
        servo.min()
        print("min")  # Indicate current position
        sleep(1)      # Hold position for 1 second

        # Return the servo to the middle position and wait
        servo.mid()
        print("mid")  # Indicate current position
        sleep(0.5)    # Brief pause for 0.5 seconds

        # Move the servo to its maximum position and wait
        servo.max()
        print("max")  # Indicate current position
        sleep(1)      # Hold position for 1 second

except KeyboardInterrupt:
    # Gracefully terminate the script on a keyboard interrupt (Ctrl+C)
    pass

Code Explanation

These import statements bring in the Servo class for servo control and the sleep function for timing.
```
#!/usr/bin/env python3
from gpiozero import Servo
from time import sleep
```

Sets the GPIO pin number 18 for connecting the servo motor.

# Set the GPIO pin number where the servo motor is connected
myGPIO = 18

These lines define a correction factor and use it to calculate the maximum and minimum pulse widths for the servo, fine-tuning its movement range.

# Define a correction factor to fine-tune servo pulse width
myCorrection = 0.45
maxPW = (2.0 + myCorrection) / 1000  # Calculate maximum pulse width
minPW = (1.0 - myCorrection) / 1000  # Calculate minimum pulse width

Initializes the Servo object with the specified GPIO pin and custom pulse widths.

# Initialize the Servo object with custom pulse widths
servo = Servo(myGPIO, min_pulse_width=minPW, max_pulse_width=maxPW)

The try block contains a while True loop to continuously move the servo. The servo is positioned at mid, min, and max points, with each position printed and held for a specified duration.

try:
    while True:
        # Position the servo at the middle and wait
        servo.mid()
        print("mid")  # Indicate current position
        sleep(0.5)    # Brief pause for 0.5 seconds

        # Move the servo to its minimum position and wait
        servo.min()
        print("min")  # Indicate current position
        sleep(1)      # Hold position for 1 second

        # Return the servo to the middle position and wait
        servo.mid()
        print("mid")  # Indicate current position
        sleep(0.5)    # Brief pause for 0.5 seconds

        # Move the servo to its maximum position and wait
        servo.max()
        print("max")  # Indicate current position
        sleep(1)      # Hold position for 1 second

except KeyboardInterrupt:
    # Gracefully terminate the script on a keyboard interrupt (Ctrl+C)
    pass