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70 lines
2.8 KiB
Markdown
70 lines
2.8 KiB
Markdown
| Supported Targets | ESP32 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S3 |
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| ----------------- | ----- | -------- | -------- | -------- | -------- |
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# MCPWM RC Servo Control Example
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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This example illustrates how to drive a typical [RC Servo](https://en.wikipedia.org/wiki/Servo_%28radio_control%29) by sending a PWM signal using the MCPWM driver. The PWM pulse has a frequency of 50Hz (period of 20ms), and the active-high time (which controls the rotation) ranges from 0.5s to 2.5ms with 1.5ms always being center of range.
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## How to Use Example
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### Hardware Required
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* A development board with any Espressif SoC which features MCPWM peripheral (e.g., ESP32-DevKitC, ESP-WROVER-KIT, etc.)
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* A USB cable for Power supply and programming
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* A RC servo motor, e.g. [SG90](http://www.ee.ic.ac.uk/pcheung/teaching/DE1_EE/stores/sg90_datasheet.pdf)
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Connection :
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```
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ESP Board Servo Motor 5V
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+-------------------+ +---------------+ ^
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| SERVO_PULSE_GPIO +-----+PWM VCC +----+
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| | | |
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| GND +-----+GND |
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+-------------------+ +---------------+
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```
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Note that, some kind of servo might need a higher current supply than the development board usually can provide. It's recommended to power the servo separately.
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### Build and Flash
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Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html) for full steps to configure and use ESP-IDF to build projects.
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## Example Output
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Run the example, you will see the following output log:
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```
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...
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I (0) cpu_start: Starting scheduler on APP CPU.
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I (305) example: Create timer and operator
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I (305) example: Connect timer and operator
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I (305) example: Create comparator and generator from the operator
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I (315) gpio: GPIO[44]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
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I (325) example: Set generator action on timer and compare event
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I (335) example: Enable and start timer
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I (335) example: Angle of rotation: 0
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I (1345) example: Angle of rotation: 2
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I (2345) example: Angle of rotation: 4
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I (3345) example: Angle of rotation: 6
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I (4345) example: Angle of rotation: 8
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I (5345) example: Angle of rotation: 10
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I (6345) example: Angle of rotation: 12
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I (7345) example: Angle of rotation: 14
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I (8345) example: Angle of rotation: 16
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I (9345) example: Angle of rotation: 18
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...
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```
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The servo will rotate from -90 degree to 90 degree, and then turn back again.
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## Troubleshooting
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For any technical queries, please open an [issue] (https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.
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