ESP32 General Servo

Code Examples

Below you can find code examples of General Servo with ESP32 in several frameworks:

• Arduino IDE
• ESP-IDF
• ESPHome
• PlatformIO
• MicroPython

ESP32 General Servo Arduino IDE Code Example

Example in Arduino IDE

Fill in your main Arduino IDE sketch file with the following code to use the General Servo:

#include <Servo.h> // Include the Servo library

Servo myServo; // Create a Servo object

void setup() {
  myServo.attach(9); // Attach the servo to pin 9 (change to your pin)
}

void loop() {
  myServo.write(0); // Move the servo to 0 degrees
  delay(1000); // Wait 1 second
  myServo.write(90); // Move the servo to 90 degrees
  delay(1000); // Wait 1 second
  myServo.write(180); // Move the servo to 180 degrees
  delay(1000); // Wait 1 second
}

TheServo.hlibrary simplifies controlling servo motors using PWM signals. It works with various hobby servos like SG90, MG90S, and MG996R. In the code:

• Servo myServo;creates a servo object.
• myServo.attach(pin);links the servo to a GPIO pin.
• myServo.write(angle);moves the servo to the specified angle (0°–180°).

This library manages the precise PWM timing required for servo operation, making it versatile and easy to use for different servo models.

Connect your ESP32 to your computer via a USB cable, Ensure the correct Board and Port are selected under Tools, Click the "Upload" button in the Arduino IDE to compile and upload the code to your ESP32.

ESP32 General Servo ESP-IDF Code Example

Example in Espressif IoT Framework (ESP-IDF)

If you're using ESP-IDF to work with the General Servo, here's how you can set it up and read data from the sensor. Fill in this code in the main ESP-IDF file:

#include "driver/ledc.h"
#include "esp_err.h"

#define SERVO_PIN GPIO_NUM_18 // GPIO pin for the servo signal
#define SERVO_MIN_PULSEWIDTH 500 // Minimum pulse width in microseconds (0°)
#define SERVO_MAX_PULSEWIDTH 2500 // Maximum pulse width in microseconds (180°)
#define SERVO_MAX_DEGREE 180 // Maximum angle in degrees

// Function to calculate pulse width for a given angle
uint32_t calculate_pulse_width(uint32_t angle) {
    return SERVO_MIN_PULSEWIDTH + ((SERVO_MAX_PULSEWIDTH - SERVO_MIN_PULSEWIDTH) * angle) / SERVO_MAX_DEGREE;
}

void app_main() {
    // Configure the LEDC timer
    ledc_timer_config_t ledc_timer = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .timer_num = LEDC_TIMER_0,
        .duty_resolution = LEDC_TIMER_16_BIT,
        .freq_hz = 50, // Frequency for servos
        .clk_cfg = LEDC_AUTO_CLK
    };
    ledc_timer_config(&ledc_timer);

    // Configure the LEDC channel
    ledc_channel_config_t ledc_channel = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = LEDC_CHANNEL_0,
        .timer_sel = LEDC_TIMER_0,
        .intr_type = LEDC_INTR_DISABLE,
        .gpio_num = SERVO_PIN,
        .duty = 0, // Initial duty cycle
        .hpoint = 0
    };
    ledc_channel_config(&ledc_channel);

    while (1) {
        // Move servo to 0°
        uint32_t duty = calculate_pulse_width(0);
        ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
        vTaskDelay(pdMS_TO_TICKS(1000));

        // Move servo to 90°
        duty = calculate_pulse_width(90);
        ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
        vTaskDelay(pdMS_TO_TICKS(1000));

        // Move servo to 180°
        duty = calculate_pulse_width(180);
        ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
}

This code controls a servo using ESP-IDF's LEDC PWM driver. The calculate_pulse_width function computes the pulse width for a given angle (0° to 180°). The LEDC timer is set to 50 Hz, and the GPIO pin (e.g., GPIO_NUM_18) is configured as the output for the PWM signal. The servo's position is adjusted by updating the PWM duty cycle in the loop.

Update the I2C pins (I2C_MASTER_SDA_IO and I2C_MASTER_SCL_IO) to match your ESP32 hardware setup, Use idf.py build to compile the project, Use idf.py flash to upload the code to your ESP32.

ESP32 General Servo ESPHome Code Example

Example in ESPHome (Home Assistant)

Fill in this configuration in your ESPHome YAML configuration file (example.yml) to integrate the General Servo

servo:
  - id: my_servo
    output: pwm_output

output:
  - platform: esp8266_pwm
    id: pwm_output
    pin: GPIOXX
    frequency: 50 Hz

The configuration defines a servo controlled via PWM on an ESP-based device. The servo block specifies the servo's ID and links it to a PWM output, while the output block configures the PWM signal (e.g., frequency and GPIO pin). For more details, visit ESPHome Servo Component Documentation.

Upload this code to your ESP32 using the ESPHome dashboard or the esphome run command.

ESP32 General Servo PlatformIO Code Example

Example in PlatformIO Framework

For PlatformIO, make sure to configure the platformio.ini file with the appropriate environment and libraries, and then proceed with the code.

Configure platformio.ini

First, your platformio.ini should look like below. You might need to include some libraries as shown. Make sure to change the board to your ESP32:

[env:esp32dev]
platform = espressif32
board = esp32dev
framework = espidf
monitor_speed = 115200

ESP32 General Servo PlatformIO Example Code

Write this code in your PlatformIO project under the src/main.cpp file to use the General Servo:

#include <Arduino.h>
#include <Servo.h> // Include the Servo library

Servo myServo; // Create a Servo object

void setup() {
  myServo.attach(18); // Attach the servo to GPIO 18
}

void loop() {
  myServo.write(0);   // Move to 0 degrees
  delay(1000);        // Wait 1 second
  myServo.write(90);  // Move to 90 degrees
  delay(1000);        // Wait 1 second
  myServo.write(180); // Move to 180 degrees
  delay(1000);        // Wait 1 second
}

This code demonstrates how to control a servo in PlatformIO using the Arduino framework. The servo is connected to GPIO 18, and its position is controlled using PWM signals generated by the myServo.attach() and myServo.write() methods. No additional libraries are needed as the Arduino Servo library is built into the framework. The setup() function initializes the servo, while the loop() moves it between 0°, 90°, and 180° with delays.

Upload the code to your ESP32 using the PlatformIO "Upload" button in your IDE or the pio run --target upload command.

ESP32 General Servo MicroPython Code Example

Example in Micro Python Framework

Fill in this script in your MicroPython main.py file (main.py) to integrate the General Servo with your ESP32.

from machine import Pin, PWM
from time import sleep

# Configure PWM on GPIO18
servo = PWM(Pin(18))
servo.freq(50)  # Set frequency to 50 Hz

# Function to move the servo to a specific angle (0° to 180°)
def set_servo_angle(angle):
    # Convert angle to duty cycle (pulse width in microseconds)
    duty = int(40 + (angle / 180) * 115)  # Duty cycle range: 40-155 (approx. 500-2500 μs)
    servo.duty(duty)

# Main loop
while True:
    set_servo_angle(0)   # Move to 0°
    sleep(1)             # Wait 1 second
    set_servo_angle(90)  # Move to 90°
    sleep(1)             # Wait 1 second
    set_servo_angle(180) # Move to 180°
    sleep(1)             # Wait 1 second

This MicroPython code controls a servo motor using PWM on GPIO 18. The PWM object sets a 50 Hz frequency for the servo. The function set_servo_angle(angle) converts an angle (0° to 180°) into a duty cycle to position the servo. In the loop, the servo moves between 0°, 90°, and 180° with a 1-second delay between movements.

Upload this code to your ESP32 using a MicroPython-compatible IDE, such as Thonny, uPyCraft, or tools like ampy.