GeekServoOnAntonsLPF2.py

from neopixel import NeoPixel
from pupremote import PUPRemoteSensor
from machine import Pin, PWM


### Neopixel setup #############################################################

np = NeoPixel(Pin(25), 1)  # onboard neopixel
np[0] = (100, 100, 100)
np.write()


def led(r, g, b):
    print(r, g, b)  # prove that communication is working
    np[0] = (r, g, b)
    np.write()  # write the color buffer to the led
    return r, g, b  # return the values to the caller

#### Servos ######################################################

MIN_DC_NS = 500_000
MAX_DC_NS = 2500_000
MIN_ANGLE = +180
MAX_ANGLE = -180

# Sevro 1 bis 4 entsprehend den Pins 19 bis 22
servo_p19 = PWM(Pin(19), freq=50)
servo_p20 = PWM(Pin(20), freq=50)
servo_p21 = PWM(Pin(21), freq=50)
servo_p22 = PWM(Pin(22), freq=50)

def servo_set_angle(servo, angle):
    norm_angle = (angle + 180) / 360
    print("norm_angle:", norm_angle)
    duty_ns = int(MIN_DC_NS + (MAX_DC_NS - MIN_DC_NS) * norm_angle)
    print("duty_ns:", duty_ns)
    servo.duty_ns(duty_ns)


def s19(angle):
    servo_set_angle(servo_p19, angle)  # move the servo to the specified angle
    return angle  # return the angle to the caller


def s20(angle):
    servo_set_angle(servo_p21, angle)  # move the servo to the specified angle
    return angle  # return the angle to the caller


def s21(angle):
    servo_set_angle(servo_p21, angle)  # move the servo to the specified angle
    return angle  # return the angle to the caller


def s22(angle):
    servo_set_angle(servo_p21, angle)  # move the servo to the specified angle
    return angle  # return the angle to the caller


rs = PUPRemoteSensor(power=True)
rs.add_command('led', 'BBB', 'BBB')
rs.add_command('s19', 'h', 'h')
rs.add_command('s20', 'h', 'h')
rs.add_command('s21', 'h', 'h')
rs.add_command('s22', 'h', 'h')
rs.process()

while True:
    rs.process()