Tuesday, December 22, 2020

ESP32 (ESP32-DevKitC-V4) to drive Servo Motors using ESP32Servo lib

This example show how to program ESP32 (ESP32-DevKitC-V4) to drive Servo Motors (one SG90/two DS3120) using ESP32Servo lib, using ESP32Servo library.

Drive one SG90 Servo Motor:

Connection:

Install ESP32Servo in Arduino IDE's Library manager.

Open example of ESP32Server > Sweep.

As shown in the video, change min/max to 500/2500.

Sweep_esp32_sg90.ino
/* Sweep
Original from ESP32Servo examples Sweep
https://github.com/madhephaestus/ESP32Servo

 */

#include <ESP32Servo.h>

Servo myservo;  // create servo object to control a servo
// 16 servo objects can be created on the ESP32

int pos = 0;    // variable to store the servo position
// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
int servoPin = 18;

void setup() {
	// Allow allocation of all timers
	ESP32PWM::allocateTimer(0);
	ESP32PWM::allocateTimer(1);
	ESP32PWM::allocateTimer(2);
	ESP32PWM::allocateTimer(3);
	myservo.setPeriodHertz(50);    // standard 50 hz servo
	myservo.attach(servoPin, 500, 2500); // attaches the servo on pin 18 to the servo object
	// using default min/max of 1000us and 2000us
	// different servos may require different min/max settings
	// for an accurate 0 to 180 sweep
}

void loop() {

	for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
		// in steps of 1 degree
		myservo.write(pos);    // tell servo to go to position in variable 'pos'
		delay(15);             // waits 15ms for the servo to reach the position
	}
	for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
		myservo.write(pos);    // tell servo to go to position in variable 'pos'
		delay(15);             // waits 15ms for the servo to reach the position
	}
}

Drive two DS3120 Servo Motor:

Connection:

modify the code to add one more Servo:

Sweep_esp32_two_ds3120.ino

/* Sweep
Original from ESP32Servo examples Sweep
https://github.com/madhephaestus/ESP32Servo

 */

#include <ESP32Servo.h>

Servo myservo;  // create servo object to control a servo
Servo myservo2;
// 16 servo objects can be created on the ESP32

int pos = 0;    // variable to store the servo position
// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
int servoPin = 18;
int servoPin2 = 19;

void setup() {
	// Allow allocation of all timers
	ESP32PWM::allocateTimer(0);
	ESP32PWM::allocateTimer(1);
	ESP32PWM::allocateTimer(2);
	ESP32PWM::allocateTimer(3);
	myservo.setPeriodHertz(50);    // standard 50 hz servo
	myservo.attach(servoPin, 500, 2500); // attaches the servo on pin 18 to the servo object
	myservo2.setPeriodHertz(50);    // standard 50 hz servo
	myservo2.attach(servoPin2, 500, 2500);
	// using default min/max of 1000us and 2000us
	// different servos may require different min/max settings
	// for an accurate 0 to 180 sweep
}

void loop() {

	for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
		// in steps of 1 degree
		myservo.write(pos);    // tell servo to go to position in variable 'pos'
		myservo2.write(pos);
		delay(15);             // waits 15ms for the servo to reach the position
	}
	for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
		myservo.write(pos);    // tell servo to go to position in variable 'pos'
		myservo2.write(pos);
		delay(15);             // waits 15ms for the servo to reach the position
	}
}



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