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/*
* ESP32 Servo Example Using Arduino ESP32 Servo Library
* John K. Bennett
* March, 2017
*
* This sketch uses the Arduino ESP32 Servo Library to sweep 4 servos in sequence.
*
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
* degrees.
*
* Circuit:
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
* the ground wire is typically black or brown, and the signal wire is typically yellow,
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
*
* We could also connect servo power to a separate external
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
* connect to any available GPIO pins on the ESP32 (in this example, we use pins
* 22, 19, 23, & 18).
*
* In this example, we assume four Tower Pro SG90 small servos.
* The published min and max for this servo are 500 and 2400, respectively.
* These values actually drive the servos a little past 0 and 180, so
* if you are particular, adjust the min and max values to match your needs.
* Experimentally, 550 and 2350 are pretty close to 0 and 180.
*/
#include <ESP32Servo.h>
// create four servo objects
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
// Published values for SG90 servos; adjust if needed
int minUs = 1000;
int maxUs = 2000;
// These are all GPIO pins on the ESP32
// Recommended pins include 2,4,12-19,21-23,25-27,32-33
// for the ESP32-S2 the GPIO pins are 1-21,26,33-42
// for the ESP32-S3 the GPIO pins are 1-21,35-45,47-48
// for the ESP32-C3 the GPIO pins are 1-10,18-21
#if defined(CONFIG_IDF_TARGET_ESP32C3)
int servo1Pin = 7;
int servo2Pin = 6;
int servo3Pin = 5;
int servo4Pin = 4;
int servo5Pin = 3;
#else
int servo1Pin = 15;
int servo2Pin = 16;
int servo3Pin = 14;
#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
int servo4Pin = 13;
#else
int servo4Pin = 32;
#endif
int servo5Pin = 4;
#endif
int pos = 0; // position in degrees
ESP32PWM pwm;
void setup() {
// Allow allocation of all timers
ESP32PWM::allocateTimer(0);
ESP32PWM::allocateTimer(1);
ESP32PWM::allocateTimer(2);
ESP32PWM::allocateTimer(3);
Serial.begin(115200);
servo1.setPeriodHertz(50); // Standard 50hz servo
servo2.setPeriodHertz(50); // Standard 50hz servo
servo3.setPeriodHertz(330); // Standard 50hz servo
servo4.setPeriodHertz(200); // Standard 50hz servo
//servo5.setPeriodHertz(50); // Standard 50hz servo
}
void loop() {
servo1.attach(servo1Pin, minUs, maxUs);
servo2.attach(servo2Pin, minUs, maxUs);
#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32C3)
pwm.attachPin(37, 10000);//10khz
#elif defined(CONFIG_IDF_TARGET_ESP32C3)
pwm.attachPin(7, 10000);//10khz
#else
pwm.attachPin(27, 10000);//10khz
#endif
servo3.attach(servo3Pin, minUs, maxUs);
servo4.attach(servo4Pin, minUs, maxUs);
//servo5.attach(servo5Pin, minUs, maxUs);
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo1.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo1.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo2.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo2.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo3.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo3.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo4.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo4.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo5.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo5.write(pos);
delay(1);
}
servo1.detach();
servo2.detach();;
servo3.detach();
servo4.detach();
pwm.detachPin(27);
delay(5000);
}
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