{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "afd3e934-070b-4be1-a92c-6b13454ddfc4",
   "metadata": {},
   "source": [
    "# Servo Motors"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "ce47fad6-fb3b-40a5-b4c4-1c66182b162b",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Found serial ports: /dev/cu.usbmodem14101, /dev/cu.Bluetooth-Incoming-Port \n",
      "\u001b[34mConnecting to --port=/dev/cu.usbmodem14101 --baud=115200 \u001b[0m\n",
      "\u001b[34mReady.\n",
      "\u001b[0m"
     ]
    }
   ],
   "source": [
    "%serialconnect"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "id": "3f3f3790-8375-40b3-b3f0-2876d20a24e8",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "."
     ]
    }
   ],
   "source": [
    "import machine\n",
    "import time\n",
    "\n",
    "# pulse width ranges from 500 to 2500 microseconds\n",
    "class Servo():\n",
    "    \n",
    "    def __init__(self, pwm, freq=50, pulse_width_min=500, pulse_width_max=2500):\n",
    "        self.pwm = pwm\n",
    "        self.pwm.freq(freq)\n",
    "        self.pulse_width_min = pulse_width_min\n",
    "        self.pulse_width_max = pulse_width_max\n",
    "        self.pulse_width_us = 1500\n",
    "\n",
    "    def set_position(self, pos):\n",
    "        pw = self.pulse_width_min + int((self.pulse_width_max - self.pulse_width_min)*pos/100)\n",
    "        self.pulse_width_us = max(self.pulse_width_min, min(self.pulse_width_max, pw))\n",
    "        self.pwm.duty_ns(1000*self.pulse_width_us)\n",
    "        \n",
    "    def stop(self):\n",
    "        self.pwm.duty_u16(0)\n",
    " \n",
    "# create servo instance\n",
    "servo_pin = machine.Pin(7, mode=machine.Pin.OUT)\n",
    "servo_pwm = machine.PWM(servo_pin)\n",
    "srv = Servo(servo_pwm)\n",
    "\n",
    "# set to initial position\n",
    "srv.set_position(50)\n",
    "time.sleep(1)\n",
    "for k in range(0, 101):\n",
    "    srv.set_position(k)\n",
    "    time.sleep_ms(50)\n",
    "\n",
    "# stop servo\n",
    "srv.stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "63200b71-6c72-43dd-94ea-752c6d8085ac",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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