Persiapan Bahan #
– Raspberry Pi Pico / Pico W
– Servo SG90
– Breadboard
– Kabel Jumper Male to Male
– Kabel Micro USD
– Aplikasi Thonny IDE
Wiring Servo SG90 Raspberry Pi Pico #
- Connect the VCC to 3.3V
- GND To GND
- Signal Pin of the SG-90 Servo Motor to GP0 pin of the Raspberry Pi Pico.
Sample Code MicroPython Code/Program #
The code is divided into two parts. One is servo.py & the other is main.py. The servo.py is the library required by Servo Motor.
servo.py
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)main.py
import utime
from servo import Servo
s1 = Servo(0) # Servo pin is connected to GP0
def servo_Map(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
def servo_Angle(angle):
if angle < 0:
angle = 0
if angle > 180:
angle = 180
s1.goto(round(servo_Map(angle,0,180,0,1024))) # Convert range value to angle value
if __name__ == '__main__':
while True:
print("Turn left ...")
for i in range(0,180,10):
servo_Angle(i)
utime.sleep(0.05)
print("Turn right ...")
for i in range(180,0,-10):
servo_Angle(i)
utime.sleep(0.05)
