Tag Archives: Servo

In this video lesson we show how you can control a PIO State Machine on the Raspberry Pi Pico W inside of a micropython class. We demonstrate with the practical example of controlling servos with a servo Class which we create. The objective is to ‘hide’ all the complex code in the class, allowing less adept users to interact with the servo with simple python commands. For your convenience the code developed in this video is included below. Enjoy!

import time
from machine import Pin
import rp2
class servoState:
    counter=0
    @rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)
    def servoSet():
        wrap_target()
        mov(x,osr)
        mov(y,isr)
        set(pins,0)
        label('timeLoop')
        jmp(x_not_y,'nxt')
        set(pins,1)
        label('nxt')
        jmp(y_dec,'timeLoop')    
        wrap()
    
    def __init__(self,servoPin):
        self.sm = rp2.StateMachine(servoState.counter,servoState.servoSet, freq=2000000, set_base=Pin(servoPin))
        self.sm.active(1)
        self.sm.put(20000)
        self.sm.exec("pull()")
        self.sm.exec("mov(isr,osr)")
        print("State Machine: "+str(servoState.counter)+" created")
        servoState.counter=servoState.counter+1
    def servoAngle(self,angle):
        pw=int(500+angle*2000/180)
        self.sm.put(pw)
        self.sm.exec("pull()")
myServo1=servoState(20)
myServo2=servoState(21)
myServo3=servoState(22)
myServo4=servoState(23)
myServo5=servoState(24)
myServo6=servoState(25)
myServo7=servoState(26)
myServo8=servoState(27)
while True:
    for angle in range(0,180,1):
        myServo1.servoAngle(angle)
        myServo7.servoAngle(180-angle)
    time.sleep(5)
    for angle in range(180,0,-1):
        myServo1.servoAngle(angle)
        myServo7.servoAngle(180-angle)
    time.sleep(5)

import time

from machine import Pin

import rp2

class servoState:

counter=0

@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)

def servoSet():

wrap_target()

mov(x,osr)

mov(y,isr)

set(pins,0)

label('timeLoop')

jmp(x_not_y,'nxt')

set(pins,1)

label('nxt')

jmp(y_dec,'timeLoop')

wrap()

def __init__(self,servoPin):

self.sm = rp2.StateMachine(servoState.counter,servoState.servoSet, freq=2000000, set_base=Pin(servoPin))

self.sm.active(1)

self.sm.put(20000)

self.sm.exec("pull()")

self.sm.exec("mov(isr,osr)")

print("State Machine: "+str(servoState.counter)+" created")

servoState.counter=servoState.counter+1

def servoAngle(self,angle):

pw=int(500+angle*2000/180)

self.sm.put(pw)

self.sm.exec("pull()")

myServo1=servoState(20)

myServo2=servoState(21)

myServo3=servoState(22)

myServo4=servoState(23)

myServo5=servoState(24)

myServo6=servoState(25)

myServo7=servoState(26)

myServo8=servoState(27)

while True:

for angle in range(0,180,1):

myServo1.servoAngle(angle)

myServo7.servoAngle(180-angle)

time.sleep(5)

for angle in range(180,0,-1):

myServo1.servoAngle(angle)

myServo7.servoAngle(180-angle)

time.sleep(5)

MicroPython, Raspberry Pi Pico

Sweeping Servo Position Using the PIO State Machine on the Raspberry Pi Pico PIO State Machine

December 10, 2024 admin

In this video lesson we show how you can use the Raspberry Pi Pico PIO State Machine to sweep a servo through its full range of motion. The video will take you through things step-by-step. For your convenience the code developed in the video is included below. Enjoy!

import time
from machine import Pin
import rp2
@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)
def servoSet():
    wrap_target()
    mov(x,osr)
    mov(y,isr)
    set(pins,0)
    label('timeLoop')
    jmp(x_not_y,'nxt')
    set(pins,1)
    label('nxt')
    jmp(y_dec,'timeLoop')    
    wrap()  
sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))
sm0.active(1)
sm0.put(20000)
sm0.exec("pull()")
sm0.exec("mov(isr,osr)")
while True:
    for angle in range(0,180,1):
        pw=int(500+angle*2000/180)
        sm0.put(pw)
        sm0.exec("pull()")
    time.sleep(5)
    for angle in range(180,0,-1):
        pw=int(500+angle*2000/180)
        sm0.put(pw)
        sm0.exec("pull()")

import time

from machine import Pin

import rp2

@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)

def servoSet():

wrap_target()

mov(x,osr)

mov(y,isr)

set(pins,0)

label('timeLoop')

jmp(x_not_y,'nxt')

set(pins,1)

label('nxt')

jmp(y_dec,'timeLoop')

wrap()

sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))

sm0.active(1)

sm0.put(20000)

sm0.exec("pull()")

sm0.exec("mov(isr,osr)")

while True:

for angle in range(0,180,1):

pw=int(500+angle*2000/180)

sm0.put(pw)

sm0.exec("pull()")

time.sleep(5)

for angle in range(180,0,-1):

pw=int(500+angle*2000/180)

sm0.put(pw)

sm0.exec("pull()")

MicroPython, Raspberry Pi Pico

Control Servo Position Using a Raspberry Pi Pico PIO State Machine

December 3, 2024 admin

In this video tutorial we show you how you can use a Raspberry Pi Pico PIO Statemachine to control the position of a servo. For your convenience, the code from this lesson is presented below. Enjoy!

from machine import Pin
import rp2
@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)
def servoSet():
    set(x,0b11111)
    in_(x,5)
    set(x,0b0100)
    in_(x,4)
    #set(x,0b00000)
    #in_(x,1)
    mov(osr,isr)
    
    mov(isr,null)
    set(y,0b10011)
    in_(y,5)
    set(y,0b10001)
    in_(y,5)
    set(y,0b00000)
    in_(y,5)
    
    wrap_target()
    mov(x,osr)
    mov(y,isr)
    set(pins,0)
    label('timeLoop')
    jmp(x_not_y,'nxt')
    set(pins,1)
    label('nxt')
    jmp(y_dec,'timeLoop')    
    wrap()
    
sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))
sm0.active(1)

from machine import Pin

import rp2

@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)

def servoSet():

set(x,0b11111)

in_(x,5)

set(x,0b0100)

in_(x,4)

#set(x,0b00000)

#in_(x,1)

mov(osr,isr)

mov(isr,null)

set(y,0b10011)

in_(y,5)

set(y,0b10001)

in_(y,5)

set(y,0b00000)

in_(y,5)

wrap_target()

mov(x,osr)

mov(y,isr)

set(pins,0)

label('timeLoop')

jmp(x_not_y,'nxt')

set(pins,1)

label('nxt')

jmp(y_dec,'timeLoop')

wrap()

sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))

sm0.active(1)

MicroPython, Raspberry Pi Pico

MicroPython MultiCore Programming on the Raspberry Pi Pico Using Threading

May 7, 2024 admin

In this video I show how to use both cores on the Raspberry Pi Pico W. We will explore an example using threading where we will operate 2 LED and a servo.

from machine import Pin
import time
import _thread
import SERVO

greenPin=14
redPin=15
servoPin=17

LED=""

redLED=Pin(redPin,Pin.OUT)
greenLED=Pin(greenPin,Pin.OUT)

delOn=.1
delOff=.1
myServo=SERVO.servo(servoPin)
running =True

def othCore(del1,del2):
    global LED
    while True:
        if LED=="RED":
            redLED.value(1)
            time.sleep(del1)
            redLED.value(0)
            time.sleep(del2)
        if LED=="GREEN":
            greenLED.value(1)
            time.sleep(del1)
            greenLED.value(0)
            time.sleep(del2)
_thread.start_new_thread(othCore,(delOn,delOff))
time.sleep(.25)
while True:
    LED="RED"
    for i in range(0,180,1):
        myServo.pos(i)
        time.sleep(.01)
    LED="GREEN"
    for i in range(180,0,-1):
        myServo.pos(i)
        time.sleep(.01)

from machine import Pin

import time

import _thread

import SERVO

greenPin=14

redPin=15

servoPin=17

LED=""

redLED=Pin(redPin,Pin.OUT)

greenLED=Pin(greenPin,Pin.OUT)

delOn=.1

delOff=.1

myServo=SERVO.servo(servoPin)

running =True

def othCore(del1,del2):

global LED

while True:

if LED=="RED":

redLED.value(1)

time.sleep(del1)

redLED.value(0)

time.sleep(del2)

if LED=="GREEN":

greenLED.value(1)

time.sleep(del1)

greenLED.value(0)

time.sleep(del2)

_thread.start_new_thread(othCore,(delOn,delOff))

time.sleep(.25)

while True:

LED="RED"

for i in range(0,180,1):

myServo.pos(i)

time.sleep(.01)

LED="GREEN"

for i in range(180,0,-1):

myServo.pos(i)

time.sleep(.01)

MicroPython, Raspberry Pi Pico

Servo Library for the Raspberry Pi Pico W in MicroPython

April 23, 2024 admin

In this lesson we demonstrate how to create a custom library on the Raspberry Pi Pico W to control a servo. We create a servo class, and then show how to use it as a library in future programs.

class servo:
    def __init__(self,sPin):
        import machine
        self.servoPin=sPin
        self.obj=machine.PWM(machine.Pin(self.servoPin))
        self.obj.freq(50)
    
    def pos(self,angle):
        writeVal=6553/180*angle+1638
        self.obj.duty_u16(int(writeVal))

class servo:

def __init__(self,sPin):

import machine

self.servoPin=sPin

self.obj=machine.PWM(machine.Pin(self.servoPin))

self.obj.freq(50)

def pos(self,angle):

writeVal=6553/180*angle+1638

self.obj.duty_u16(int(writeVal))

Technology Tutorials

Tag Archives: Servo

Control Raspberry Pi Pico PIO State Machines in a Micropython Class

Sweeping Servo Position Using the PIO State Machine on the Raspberry Pi Pico PIO State Machine

Control Servo Position Using a Raspberry Pi Pico PIO State Machine

MicroPython MultiCore Programming on the Raspberry Pi Pico Using Threading

Servo Library for the Raspberry Pi Pico W in MicroPython

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