Servo

Introduction

A servo motor is a rotary actuator that allows for precise control of angular position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback.

evive has two dedicated servo motor outputs pins.

evive servo output channel

Controlling Servo Angle

Servo is controlled on the concept of PWM (Pulse Width Modulation). The refresh interval (the minimum time to refresh servos in microseconds) is 20000, which means that the servo is refreshing at a frequency of 50Hz. For most of the servos, a certain range of PWM correspond to the range of angle servo can rotate. Minimum pulse width is the shortest time for the pulse has been HIGH and maximum pulse width is the longest time for which the pulse is HIGH. Hence if the range of motor angular position is from 0 to 180, then minimum pulse width corresponds to 0 and maximum pulse width corresponds to 180.

Signal pin of servo 1 is connected to digital pin 44 and servo 2 is connected to digital pin 45.

Schematicevive Servo Fritzing circuit diagram

Controlling servo through the evive menu

You can directly connect servo and control angle using inbuilt potentiometers using evive menu. You just have to navigate to control submenu, select servo and then select which servo you want to control (Servo 1 or Servo 2 or both servo).

Controlling servo using servo library

There is a servo library which can be used to control the servo motor. The available functions are provided in the table below:

Function Return data type Comment
attach(int pin); unit8_t Attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
attach(int pin, int min, int max); unit8_t As above but also sets min and max values for writes
detach(); void
write(int value); void If value is < 200 its treated as an angle, otherwise as pulse width in microseconds
writeMicroseconds(int value); void Write pulse width in microseconds
read(); Integer Returns current pulse width as an angle between 0 and 180 degrees
readMicroseconds(); Integer Returns current pulse width in microseconds for this servo (was read_us() in first release)
attached(); bool Return true if this servo is attached, otherwise false

The sample code is given below which uses the library: