Pico servo code

Pico_RP2040_Servo/pico-servo.py

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+# SPDX-FileCopyrightText: 2021 jedgarpark for Adafruit Industries
+# SPDX-License-Identifier: MIT
+
+# Pico servo demo
+# Hardware setup:
+#   Servo on GP0 with external 5V power supply
+#   Button on GP3 and ground
+
+import time
+import board
+from digitalio import DigitalInOut, Direction, Pull
+import pwmio
+from adafruit_motor import servo
+
+print("Servo test")
+
+led = DigitalInOut(board.LED)
+led.direction = Direction.OUTPUT
+led.value = True
+
+
+def blink(times):
+    for _ in range(times):
+        led.value = False
+        time.sleep(0.1)
+        led.value = True
+        time.sleep(0.1)
+
+
+# Mode button setup
+button = DigitalInOut(board.GP3)
+button.direction = Direction.INPUT
+button.pull = Pull.UP
+mode = -1  # track state of button mode
+
+# Servo setup
+pwm_servo = pwmio.PWMOut(board.GP0, duty_cycle=2 ** 15, frequency=50)
+servo1 = servo.Servo(
+    pwm_servo, min_pulse=500, max_pulse=2200
+)  # tune pulse for specific servo
+
+
+# Servo test
+def servo_direct_test():
+    print("servo test: 90")
+    servo1.angle = 90
+    time.sleep(2)
+    print("servo test: 0")
+    servo1.angle = 0
+    time.sleep(2)
+    print("servo test: 90")
+    servo1.angle = 90
+    time.sleep(2)
+    print("servo test: 180")
+    servo1.angle = 180
+    time.sleep(2)
+
+
+# Servo smooth test
+def servo_smooth_test():
+    print("servo smooth test: 180 - 0, -1º steps")
+    for angle in range(180, 0, -1):  # 180 - 0 degrees, -1º at a time.
+        servo1.angle = angle
+        time.sleep(0.01)
+    time.sleep(1)
+    print("servo smooth test: 0 - 180, 1º steps")
+    for angle in range(0, 180, 1):  # 0 - 180 degrees, 1º at a time.
+        servo1.angle = angle
+        time.sleep(0.01)
+    time.sleep(1)
+
+
+def run_test(testnum):
+    if testnum is 0:
+        servo_direct_test()
+    elif testnum is 1:
+        servo_smooth_test()
+
+
+while True:
+    if not button.value:
+        blink(2)
+        mode = (mode + 1) % 2
+        print("switch to mode %d" % (mode))
+        time.sleep(0.8)  # big debounce
+        run_test(mode)