Edit

gpio

Configure a gpio servo to integrate a hobby servo controlled by general-purpose input/output (GPIO) pins on a non-viam:raspberry-pi:rpi model board into your machine.

JSON Template
JSON Example

{
  "components": [
    {
      "name": "<your-servo-name>",
      "model": "gpio",
      "api": "rdk:component:servo",
      "attributes": {
        "pin": "<your-pin-number>",
        "board": "<your-board-name>",
        "min_angle_deg": <float>,
        "max_angle_deg": <float>,
        "starting_position_deg": <float>,
        "frequency_hz": <int>,
        "pwm_resolution": <int>,
        "min_width_us": <int>,
        "max_width_us": <int>
      }
    }
  }

{
  "components": [
    {
      "name": "local",
      "model": "jetson",
      "api": "rdk:component:board"
    },
    {
      "name": "my_servo",
      "model": "gpio",
      "api": "rdk:component:servo",
      "attributes": {
        "pin": "16",
        "board": "local"
      }
    }
  ]
}

The following attributes are available for gpio servos:

Name	Type	Required?	Description
`pin`	string	Required	The pin number of the pin the servo’s control wire is wired to on the board.
`board`	string	Required	`name` of the board the servo is wired to.
`min_angle_deg`	float	Optional	The minimum angle in degrees that the servo can reach. Default = `0.0` Range = [`0.0`, `180.0`]
`max_angle_deg`	float	Optional	The maximum angle in degrees that the servo can reach. Default = `180.0` Range = [`0.0`, `180.0`]
`starting_position_deg`	float	Optional	Starting position of the servo in degrees. Default = `0.0` Range = [`0.0`, `180.0`]
`frequency_hz`	int	Optional	The frequency of PWM pulses sent to the servo, in Hertz (Hz). Default = [`300`] Range = [`0`, `450`]
`pwm_resolution`	int	Optional	The resolution of the PWM driver (for example, the number of ticks for a full period). If not specified or given as `0`, the driver will attempt to estimate the resolution.
`min_width_us`	int	Optional	Override the safe minimum PWM pulse width in microseconds. Range > `450`
`max_width_us`	int	Optional	Override the safe maximum PWM pulse width in microseconds. Range < `2500`

Tip

Refer to your servo’s data sheet for pulse-width modulation (PWM), rotation, and wiring specifications.

Test the servo

After you establish the connection to your servo motor, open the servo’s TEST panel on the CONFIGURE or CONTROL tabs. Use the buttons to move the servo motor to the desired angle.

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