B4R Library rESP32Servo

B4R Library rESP32Servo

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Brief
rESP32Servo is an open-source servo motor library for ESP32-based boards only (ESP8266 and AVR not supported).
It has been built up-on the B4R internal library rServo (AVR-based boards) and extended for ESP32-based boards by wrapping the library ESP32Servo.

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Development Info

• Written in C++ (Arduino IDE 2.3.4 and the B4Rh2xml tool).
• Depends on the library ESP32Servo.
• Tested with hardware ESP-WROOM-32 and servos Power HD 1160A, Tower Pro Micro Servo 99.
• Tested with software B4R 4.00 (64-bit), ESP32 board library 3.3.0, ESP32Servo library v3.0.8.

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Files
The rESP32Servo.zip archive contains the library and sample projects.

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Install
Copy the rESP32Servo library folder from the archive into your B4R Additional Libraries folder, keeping the folder structure intact.
Ensure the library ESP32Servo is installed using the Arduino IDE libraries manager.

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Wiring

Servo = ESP32
Signal = D4
VCC = VIn - Note: ESP32 powered 5V USB
GND = GND

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Basic Example

Sub Process_Globals
    Private Serial1 As Serial
    Private ANGLE_MIN_POS As UInt = 60
    Private ANGLE_MAX_POS As UInt = 100
    Private Servo1 As ESP32Servo
    Private PinServo As Pin
    Private SERVO1_PIN_NR As Byte = 4    ' Recommended pin 4 of the ESP32
End Sub

Private Sub AppStart
    Serial1.Initialize(115200)
    PinServo.Initialize(SERVO1_PIN_NR, PinServo.MODE_OUTPUT)
    TestServoEnds(Servo1, SERVO1_PIN_NR, ANGLE_MIN_POS, ANGLE_MAX_POS, 1000)
End Sub

' Move servo to min and max positions only
Private Sub TestServoEnds(servo As ESP32Servo, pinNumber As Byte, minAngle As Int, maxAngle As Int, holdTimeMs As Int)
    Log("[TestServoEnds] Start")

    servo.Attach(pinNumber)
    Delay(20)

    servo.Write(minAngle)
    Delay(20)
    Log("[TestServoEnds] Moved to min angle=", servo.Read)
    Delay(holdTimeMs)

    servo.Write(maxAngle)
    Delay(20)
    Log("[TestServoEnds] Moved to max angle=", servo.Read)
    Delay(holdTimeMs)

    servo.Write(minAngle)
    Delay(20)
    Log("[TestServoEnds] Moved to min angle=", servo.Read)
    Delay(holdTimeMs)

    servo.Detach
    Log("[TestServoEnds] Done")
End Sub

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Functions
Byte Attach(Pin As Int)
Attaches the servo to the specified pin.
Returns 0 in case of a failure.
Recommended GPIO pins:
ESP32: 2,4,12-19,21-23,25-27,32-33
ESP32-S2: 1-21,26,33-42
ESP32-S3: 1-21,35-45,47-48
ESP32-C3: 1-10,18-21

Byte Attach2(Pin As Int, MinValue As Int, MaxValue As Int)
Attaches the servo to the specified pin.
Returns 0 if there was a failure.
MinValue and MaxValue set the minimum and maximum pulse width that will be sent to the servo.

Detach()
Detaches the servo pin.

Write(Int Value)
Set servo angle.
If the value is smaller than 200 then it is treated as an angle.
Otherwise it is treated as pulse width in microseconds.

WriteMicroseconds(Value As Int)
Writes pulse width in microseconds.

WriteTicks(Value As Int)
Write ticks, the smallest increment the servo can handle.

Read() As Int
Returns current pulse width as an angle between 0 to 180 degrees.

ReadMicroseconds() As Int
Returns current pulse width in microseconds.

ReadTicks() As Int
Returns current ticks, the smallest increment the servo can handle.

Attached() As Boolean
Returns true if the servo is attached.

TimerWidth As Int
Set or get the PWM timer width (ESP32 ONLY).

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Credits

• rESP32Servo wrapped from the library ESP32Servo by Kevin Harrington, John K. Bennett (GNU Lesser General Public License).
• Anywhere Software for the B4R rServo library (used as a base).

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License
MIT License – see LICENSE file.