MG996R Servo

#include "driver/ledc.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.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

// Convert an angle to an LEDC duty value: pulse width in us -> timer ticks
// (16-bit resolution at 50 Hz means the 20000 us period spans 65535 ticks)
uint32_t calculate_duty(uint32_t angle) {
    uint32_t pulse_us = SERVO_MIN_PULSEWIDTH + ((SERVO_MAX_PULSEWIDTH - SERVO_MIN_PULSEWIDTH) * angle) / SERVO_MAX_DEGREE;
    return (uint32_t)((uint64_t)pulse_us * 65535 / 20000);
}

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_duty(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_duty(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_duty(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));
    }
}

output:
  - platform: ledc
    id: pwm_output
    pin: GPIO18  # servo signal, matches the wiring above
    frequency: 50 Hz

servo:
  - id: my_servo
    output: pwm_output

number:
  - platform: template
    name: "MG996R Position"
    min_value: -100
    max_value: 100
    step: 1
    optimistic: true
    set_action:
      - servo.write:
          id: my_servo
          level: !lambda 'return x / 100.0;'

[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
lib_deps =
    madhephaestus/ESP32Servo @ ^3.0.5

#include <Arduino.h>
#include <ESP32Servo.h> // The classic Arduino Servo library does not support the ESP32

Servo myServo; // Create a Servo object

void setup() {
  myServo.attach(18); // Servo signal on GPIO18, matches the wiring above
}

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

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