Create servo.py

raspi_pico_Tidal_Clock/servo.py

@@ -0,0 +1,68 @@
+from machine import Pin, PWM
+
+
+class Servo:
+    """ A simple class for controlling a 9g servo with the Raspberry Pi Pico.
+ 
+    Attributes:
+ 
+        minVal: An integer denoting the minimum duty value for the servo motor.
+ 
+        maxVal: An integer denoting the maximum duty value for the servo motor.
+ 
+    """
+
+    def __init__(self, pin: int or Pin or PWM, minVal=2500, maxVal=7500):
+        """ Creates a new Servo Object.
+ 
+        args:
+ 
+            pin (int or machine.Pin or machine.PWM): Either an integer denoting the number of the GPIO pin or an already constructed Pin or PWM object that is connected to the servo.
+ 
+            minVal (int): Optional, denotes the minimum duty value to be used for this servo.
+ 
+            maxVal (int): Optional, denotes the maximum duty value to be used for this servo.
+ 
+        """
+
+        if isinstance(pin, int):
+            pin = Pin(pin, Pin.OUT)
+        if isinstance(pin, Pin):
+            self.__pwm = PWM(pin)
+        if isinstance(pin, PWM):
+            self.__pwm = pin
+        self.__pwm.freq(50)
+        self.minVal = minVal
+        self.maxVal = maxVal
+
+    def deinit(self):
+        """ Deinitializes the underlying PWM object.
+ 
+        """
+        self.__pwm.deinit()
+
+    def goto(self, value: int):
+        """ Moves the servo to the specified position.
+ 
+        args:
+ 
+            value (int): The position to move to, represented by a value from 0 to 1024 (inclusive).
+ 
+        """
+        if value < 0:
+            value = 0
+        if value > 1024:
+            value = 1024
+        delta = self.maxVal-self.minVal
+        target = int(self.minVal + ((value / 1024) * delta))
+        self.__pwm.duty_u16(target)
+
+    def middle(self):
+        """ Moves the servo to the middle.
+        """
+        self.goto(512)
+
+    def free(self):
+        """ Allows the servo to be moved freely.
+        """
+        self.__pwm.duty_u16(0)