ESP32（MicroPython）串口控制舵机

ESP32（MicroPython）串口控制舵机

主程序 

'''

         橙色(信号线)-->(17)

         红色(电源正)-->(5V)

         褐色(电源负)-->(GND)         

'''

#导入Pin模块

from machine import Pin

import time

from servo import Servo

#定义SG90舵机控制对象

my_servo = Servo(Pin(17))

#程序入口

if __name__=="__main__":

    while True:

        a=int(input("舵机角度（0-180）"))

        my_servo.write_angle(a)        

servo.py

from machine import PWM

import math

# originally by Radomir Dopieralski http://sheep.art.pl

# from https://bitbucket.org/thesheep/micropython-servo

class Servo:

    """

    A simple class for controlling hobby servos.

    Args:

        pin (machine.Pin): The pin where servo is connected. Must support PWM.

        freq (int): The frequency of the signal, in hertz.

        min_us (int): The minimum signal length supported by the servo.

        max_us (int): The maximum signal length supported by the servo.

        angle (int): The angle between the minimum and maximum positions.

    """

    def __init__(self, pin, freq=50, min_us=600, max_us=2400, angle=180):

        self.min_us = min_us

        self.max_us = max_us

        self.us = 0

        self.freq = freq

        self.angle = angle

        self.pwm = PWM(pin, freq=freq, duty=0)

    def write_us(self, us):

        """Set the signal to be ``us`` microseconds long. Zero disables it."""

        if us == 0:

            self.pwm.duty(0)

            return

        us = min(self.max_us, max(self.min_us, us))

        duty = us * 1024 * self.freq // 1000000

        self.pwm.duty(duty)

    def write_angle(self, degrees=None, radians=None):

        """Move to the specified angle in ``degrees`` or ``radians``."""

        if degrees is None:

            degrees = math.degrees(radians)

        degrees = degrees % 360

        total_range = self.max_us - self.min_us

        us = self.min_us + total_range * degrees // self.angle

        self.write_us(us)

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原文链接：https://blog.csdn.net/weixin_74155302/article/details/130998810