1  # SPDX-FileCopyrightText: 2019 Carter Nelson for Adafruit Industries
 2  #
 3  # SPDX-License-Identifier: MIT
 4  
 5  # Example code for calibrating analog feedback values to servo range
 6  
 7  import time
 8  import board
 9  import pwmio
10  from adafruit_motor import servo
11  from analogio import AnalogIn
12  
13  # Pin setup
14  SERVO_PIN = board.A1
15  FEEDBACK_PIN = board.A5
16  
17  # Calibration setup
18  ANGLE_MIN = 0
19  ANGLE_MAX = 180
20  
21  # Setup servo
22  pwm = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
23  servo = servo.Servo(pwm)
24  servo.angle = None
25  
26  # Setup feedback
27  feedback = AnalogIn(FEEDBACK_PIN)
28  
29  print("Servo feedback calibration.")
30  # Move to MIN angle
31  print("Moving to {}...".format(ANGLE_MIN), end="")
32  servo.angle = ANGLE_MIN
33  time.sleep(2)
34  print("Done.")
35  feedback_min = feedback.value
36  # Move to MAX angle
37  print("Moving to {}...".format(ANGLE_MAX), end="")
38  servo.angle = ANGLE_MAX
39  time.sleep(2)
40  print("Done.")
41  feedback_max = feedback.value
42  # Print results
43  print("Feedback MIN = {}".format(feedback_min))
44  print("Feedback MAX = {}".format(feedback_max))
45  # Deactivate servo
46  servo.angle = None