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108 109<link rel="https://api.w.org/" href="http://www.riderx.info/wp-json/" /><link rel="alternate" title="JSON" type="application/json" href="http://www.riderx.info/wp-json/wp/v2/posts/2052" /><link rel="EditURI" type="application/rsd+xml" title="RSD" href="http://www.riderx.info/xmlrpc.php?rsd" /> 110<meta name="generator" content="WordPress 7.0.6" /> 111<link rel="canonical" href="http://www.riderx.info/servos-suck/" /> 112<link rel='shortlink' href='http://www.riderx.info/?p=2052' /> 113 <style>img#wpstats{display:none}</style> 114 <link rel="shortcut icon" href="http://www.riderx.info/wp-content/themes/focused/favicon.ico" type="image/ico" /> 115 <style>.recentcomments a{display:inline !important;padding:0 !important;margin:0 !important;}</style><style id="custom-background-css"> 116body.custom-background { background-image: url("http://www.riderx.info/wp-content/themes/focused/img/tiny_grid.png"); background-position: left top; background-size: auto; background-repeat: repeat; background-attachment: scroll; } 117</style> 118<!-- //wp_head --> 119 120</head> 121<!-- head --> 122 123 <body class="wp-singular post-template-default single single-post postid-2052 single-format-standard custom-background wp-theme-focused" id="right-sidebar" > 124 125 <!--[if lt IE 7]> 126 <p class="chromeframe">You are using an outdated browser. <a href="http://browsehappy.com/">Upgrade your browser today</a> or <a href="http://www.google.com/chromeframe/?redirect=true">install Google Chrome Frame</a> to better experience this site.</p> 127 <![endif]--> 128 <!-- begin header --> 129 <header id="pageheader" class="default clearfix"> 130 <div class="logo"> 131 <h1> 132 <a href="http://www.riderx.info"> 133 <div class="text"> 134 Eric's Arcana and RiderX <span></span> 135 </div> 136 </a> 137 </h1> 138 </div> 139 <!-- Main Menu --> 140 141 </header> 142 <div class="header-placeholder"></div> 143 <!-- end header --> 144 <!-- begin #main-wrapper --> 145 <div id="main-wrapper" class="clearfix"> 146 147<!-- begin #main --> 148 <div id="main"> 149 <!-- Main Menu --> 150 <section id="content"> 151 <!-- begin article --> 152 <article class="post-2052 post type-post status-publish format-standard hentry category-f6bb7473-1256-4dc1-b9aa-da752069571a"> 153 <div class="postmeta"> 154 <div class="icon"></div> 155 <div class="meta-text"> 156 Nov 10, 2021 | 157 <img src="http://www.riderx.info/wp-content/themes/focused/img/ico_comments.png"> <a href="http://www.riderx.info/servos-suck/#respond">0 comments</a> </div> 158 </div> 159 <h2><a href="http://www.riderx.info/servos-suck/">Servos Suck</a></h2> 160 <div class="entry-content clearfix"> 161 <p><font size="3">At least the cheap analog ones doâ¦</font></p> 162<p><font size="3">Iâm working on a project that was envisioned to use up to 32 servos, and therefore a bought a bunch of cheap servos off of AliExpress for the prototype (there may be no production-typeâ¦). They were the infamous âTower Pro SG90 9gâ servo:</font></p> 163<p><img decoding="async" alt="RC Mini Servo Tower Pro SG90 Micro Servo for RC 250 450 Helicopter Air Plane Car Drop SG90 9G Micro Servo Motor For Robot RC|Parts &amp; Accessories| - AliExpress" src="https://ae01.alicdn.com/kf/H43c27e4cb7164ab3af6495f6160a1ffbZ.jpg"></p> 164<p><font size="3"><a href="https://www.aliexpress.com/item/4001290030542.html">The title</a> says:</font></p> 165<h3>Mini SG90 9G 180 Degree Micro Servo Motor</h3> 166<p><font size="3">Which sounded like what I wanted for my application, and they were cheap â also what I wanted â so I ordered 40 of them and waited for them to show up. Which they did in about 3 weeks, which was a bit surprising given the currently supply chain issues. While I wait, I do some coding. </font></p> 167<p><font size="3">Iâm driving them using my <a href="https://www.youtube.com/watch?v=-CXQz1x2k9o">Fade Animation System</a> â one of the points of the project it to add servo support. To write that support, I read a few articles on servos and they all had an picture like this:<br /><img decoding="async" alt="enter image description here" src="https://i.stack.imgur.com/a1TD5.png"></font></p> 168<p><font size="3">You can get what you want from a PWM subsystem if itâs a good one, and Iâm running on the ESP32, so itâs a very good one. </font></p> 169<p><font size="3">It set up the PWM so that it runs at 50 Hz and 14 bits of resolution, so I get 0-16383 as my full counts. A little math tells me that 1 ms / 20 ms is 5% or 819, and 2 ms is 10%, or 1638. I code that up, look at the output on my scope, and it works as expected â I get nice 1ms and 2ms pulses at the extremes. And it works on my test servos â they nimbly go back and forth. </font></p> 170<p><font size="3">Along the way, I designed a little servo connector board:</font></p> 171<p><a href="http://www.riderx.info/wp-content/uploads/2021/11/image.png"><img fetchpriority="high" decoding="async" width="553" height="500" title="image" style="display: inline; background-image: none;" alt="image" src="http://www.riderx.info/wp-content/uploads/2021/11/image_thumb.png" border="0"></a></p> 172<p><font size="3">
172The ESP32 has 16 PWM outputs so it will support 16 servos, and I had no desire to wire them together by hand. </font></p> 173<p><font size="3">When my big shipment of servos show up, I plug one in, write some code â in the Fade Language â and hook up a servo. My 180 degree servo works, very nicely going back and forth. For 90 degrees. I tested my code, played around with a few things, did some more extensive reading, and had my first insight.</font></p> 174<p><font size="3">The little 1ms â 2ms chart is just plain wrong. If you vary your pulse width from 1ms to 2ms, you will get servo movement, and it will probably be around 90 degrees, but thereâs no actual standard. If you want to explore how far your servo will actually move, you will need pulses that are shorter than 1ms and longer than 2ms. How short and how long? That must be established experimentally â the counts that work on my SG90 servos are 350 and 2150 â that seems to give me full movement without a dead zone. Itâs not assured that it will even be symmetrical at both ends of the scale.</font></p> 175<p><font size="3">I had to change the Fade servo support to allow the code to specify these two limit values. It turns out that was a good thing as there is no defined direction for servos as well; big width might mean clockwise or it might mean counter-clockwise. Neat.</font></p> 176<p><font size="3">That didnât take long to figure out and the code was pretty simple to fix, but there was something else I discovered is true, at least for these servosâ¦</font></p> 177<p><font size="3">180 degrees isnât 180 degrees. The physical range of the servo is about 200 degrees, but when you drive it, 160 degrees is all that you get. Or all that I get with that specific servo, or likely this servo batch â some people say their Tower Pro SG90 servos go a full 180 degrees and others say they only go to 160 degrees the way that I do. Iâm going to put that down to poor manufacturing tolerances in the electronics, but it could be that there are multiple factories assembling these things and they use slightly different parts. </font></p> 178<p><font size="3">There are digital servos that apparently are much better behaved. They not surprisingly cost a lot more. </font></p> 179<p><font size="3">Thereâs a nice article <a href="https://www.pololu.com/blog/17/servo-control-interface-in-detail">here</a> that goes into most of this. </font></p> 180 </div> 181 </article> 182 <!-- end article --> 183 <hr> 184 185 186<!-- You can start editing here. --> 187 188 189 <!-- If comments are open, but there are no comments. --> 190 191 192 193 194 195<section id="respond" class="respond-form"> 196 197 <div id="comment-form-title"><h3>So, what do you think ?</h3></div> 198 199 <div id="cancel-comment-reply"> 200 <p class="small"><a rel="nofollow" id="cancel-comment-reply-link" href="/servos-suck/#respond" style="display:none;">Click here to cancel reply.</a></p> 201 </div> 202 203 204 <form action="http://www.riderx.info/wp-comments-post.php" method="post" id="commentform"> 205 206 <ul id="comment-form-elements"> 207 208 209 <li> 210 <label for="author">Your Name </label> 211 <input type="text" name="author" id="author" value="" tabindex="1" aria-required='true' /> 212 </li> 213 214 <li> 215 <label for="email">Your Mail </label> 216 <input type="email" name="email" id="email" value="" tabindex="2" aria-required='true' /> 217 </li> 218 219 <li> 220 <label for="url">Your Website </label> 221 <input type="url" name="url" id="url" value="" tabindex="3" /> 222 </li> 223 224 225 <li> 226 <label for="comment">Message </label> 227 <textarea name="comment" id="comment" tabindex="4" rows="7" cols="100%"></textarea> 228 </li> 229 230 231 <input name="submit" type="submit" id="submitcomment" class="submitbutton" tabindex="5" value="POST COMMENT" /> 232 <input type='hidden' name='comment_post_ID' value='2052' id='comment_post_ID' /> 233<input type='hidden' name='comment_parent' id='comment_parent' value='0' /> 234 235 <p style="display: none;"><input type="hidden" id="akismet_comment_nonce" name="akismet_comment_nonce" value="e5a2363363" /></p><p style="display: none;"><input type="hidden" id="ak_js" name="ak_js" value="162"/></p> </ul> 236 </form> 237 238 </section> 239 240 241 </section> 242 243 </div> 244 <!-- end #main --> 245 246<!-- begin aside --> 247<aside id="sidebar"> 248 249 <!--<div class="widget"> 250 <h3>ABOUT</h3> 251 <p>Often times we mistaken a slew of features for a more powerful effective app/experience. </p> 252 <p>Yet sometimes itâs those same long lists of features that end up making the app hard to grasp, or in some cases ultimately useless. </p> 253 </div> --> 254 <!-- Sidebar Widgets Area --> 255 <div id="search-2" class="widget_sidebar widget_search" ><form role="search" method="get" id="searchform" class="searchform" action="http://www.riderx.info/"> 256 <div> 257 <label class="screen-reader-text" for="s">Search for:</label> 258 <input type="text" value="" name="s" id="s" /> 259 <input type="submit" id="searchsubmit" value="Search" /> 260 </div> 261 </form></div> 262 <div id="recent-posts-2" class="widget_sidebar widget_recent_entries" > 263 <h3 class="widget-title">Recent Posts</h3> 264 <ul> 265 <li> 266 <a href="http://www.riderx.info/skiing-in-japan-shiga-kogen/">Skiing in Japan @ Shiga Kogen</a> 267 </li> 268 <li> 269 <a href="http://www.riderx.info/holiday-lights-and-gfci-trips/">Holiday lights and GFCI Trips</a> 270 </li> 271 <li> 272 <a href="http://www.riderx.info/sufferin-summits-2023-a-new-hope/">Sufferin’ Summits 2023 – A New Hope</a> 273 </li> 274 <li> 275 <a href="http://www.riderx.info/teaching-your-child-to-ski-a-guide-for-parents/">Teaching your child to ski – a Guide for Parents</a> 276 </li> 277 <li> 278 <a href="http://www.riderx.info/how-to-become-a-better-skier-improved-carving/">How to become a better skier–improved carving</a> 279 </li> 280 </ul> 281 282 </div><div id="recent-comments-2" class="widget_sidebar widget_recent_comments" ><h3 class="widget-title">Recent Comments</h3><ul id="recentcomments"><li class="recentcomments"><span class="comment-author-link"><a href="https://www.ericsmyhero.com" class="url" rel="ugc external nofollow">Kent</a></span> on <a href="http://www.riderx.info/sufferin-summits-2023-a-new-hope/#comment-15631">Sufferin’ Summits 2023 – A New Hope</a></li><li class="recentcomments"><span class="comment-author-link"><a href="http://www.garagedoors.net" class="url" rel="ugc external nofollow">Angela</a></span> on <a href="http://www.riderx.info/clopay-pinchproof-door-hinge-1/#comment-11723">Clopay Pinchproof door hinge #1</a></li><li class="recentcomments"><span class="comment-author-link">Eric Gunnerson</span> on <a href="http://www.riderx.info/fade-an-esp32-animation-system/#comment-10761">Fade–an ESP32 animation System</a></li><li class="recentcomments"><span class="comment-author-link"><a href="http://garagedoors.net" class="url" rel="ugc external nofollow">Angela</a></span> on <a href="http://www.riderx.info/clopay-pinchproof-door-hinge-1/#comment-10753">
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