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# Servo Library for ESP32
Specifically for the V3.0.0 of Arduino ESP32. All ADC's have been updated to work correctly with the new release
https://github.com/espressif/arduino-esp32/releases
This library attempts to faithfully replicate the semantics of the
Arduino Servo library (see http://www.arduino.cc/en/Reference/Servo)
for the ESP32, with two (optional) additions. The two new functions
expose the ability of the ESP32 PWM timers to vary timer width.
# Documentation by Doxygen
[ESP32Servo Doxygen](https://madhephaestus.github.io/ESP32Servo/annotated.html)
## License
Copyright (c) 2017 John K. Bennett. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
## Library Description:
```
Servo - Class for manipulating servo motors connected to ESP32 pins.
int attach(pin ) - Attaches the given GPIO pin to the next free channel
(channels that have previously been detached are used first),
returns channel number or 0 if failure. All pin numbers are allowed,
but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
int attach(pin, min, max ) - Attaches to a pin setting min and max
values in microseconds; enforced minimum min is 500, enforced max
is 2500. Other semantics are the same as attach().
void write () - Sets the servo angle in degrees; a value below 500 is
treated as a value in degrees (0 to 180). These limit are enforced,
i.e., values are constrained as follows:
Value Becomes
----- -------
< 0 0
0 - 180 value (treated as degrees)
181 - 499 180
500 - (min-1) min
min-max (from attach or default) value (treated as microseconds)
(max+1) - 2500 max
void writeMicroseconds() - Sets the servo pulse width in microseconds.
min and max are enforced (see above).
int read() - Gets the last written servo pulse width as an angle between 0 and 180.
int readMicroseconds() - Gets the last written servo pulse width in microseconds.
bool attached() - Returns true if this servo instance is attached to a pin.
void detach() - Stops an the attached servo, frees the attached pin, and frees
its channel for reuse.
```
### **New ESP32-specific functions**
```
setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
as a side effect, the pulse width is recomputed.
int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
```
### Useful Defaults:
default min pulse width for attach(): 544us
default max pulse width for attach(): 2400us
default timer width 16 (if timer width is not set)
default pulse width 1500us (servos are initialized with this value)
MINIMUM pulse with: 500us
MAXIMUM pulse with: 2500us
MAXIMUM number of servos: 16 (this is the number of PWM channels in the ESP32)
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