Module: LittleWire::Servo

Included in:
LittleWire
Defined in:
lib/littlewire/servo.rb

Instance Method Summary collapse

Instance Method Details

#servo_read(hardware_pwm_channel) ⇒ Object

Get the current andle of a servo connected to a hardware pwm channel as an angle between roughly -90° and +90°



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# File 'lib/littlewire/servo.rb', line 3

def servo_read hardware_pwm_channel
  value = hardware_pwm_read(hardware_pwm_channel)
  90 - ((value - 13).to_f * (180.0 / 23.0))
end

#servo_write(hardware_pwm_channel, angle) ⇒ Object

Set a servo connected to a hardware pwm channel to an angle between -90° and +90° inclusive Note that setting a servo’s position automatically enables Hardware PWM - disable hardware pwm when you’re done if you want to use these pins for something else



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# File 'lib/littlewire/servo.rb', line 11

def servo_write hardware_pwm_channel, angle
  self.hardware_pwm_prescale = 1024 # make sure our PWM is running at the correct frequency
  
  value = ((angle + 90.0) / (180.0 / 23.0)).round + 13
  
  hardware_pwm_write(hardware_pwm_channel, value)
end