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Sg90 servo #165
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857bc32
new example device SG90. Requires new driver build as I also added …
taartspi b2f8cb1
new example device SG90. Requires new driver build as I also added …
taartspi eecddef
new example device SG90. Requires new driver build as I also added …
taartspi 0d70740
new example device SG90. Requires new driver build as I also added …
taartspi 16b81f4
remove pom raspberrypi
taartspi bfb5496
remove pom raspberrypi
taartspi 53fc720
POM update. User text change remove pom raspberrypi
taartspi adb9208
POM update. User text change remove pom raspberrypi
taartspi 4c19507
Duplicate what is in the merged code. This was out an modified tryin…
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change float to double
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Change Double to double. The Double class parseDouble retuens a do…
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update switch statement
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review cleanup, included file rename
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| Original file line number | Diff line number | Diff line change |
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| #!/usr/bin/env bash | ||
| java -classpath ./*:../classes com.pi4j.devices.dht22.DHT22_App $@ | ||
| java -classpath ./*:../classes com.pi4j.devices.dht22.DHT22_App $@ |
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| #!/usr/bin/env bash | ||
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| java -classpath ./*:../classes com.pi4j.devices.sg90.SG90_App $@ |
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| Original file line number | Diff line number | Diff line change |
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| # SG90 servo motor | ||
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| https://www.scribd.com/document/420327552/Servo | ||
| https://www.friendlywire.com/projects/ne555-servo-safe/SG90-datasheet.pdf | ||
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| These devices do not have a customary DataSheet. Most servo devices provide limited specifications | ||
| for required pulse width, they just say 1 - 2 millisecond. | ||
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| The SG90 defines a specific PWM interface and exactly how the PWN signal | ||
| controls the servo. There are many different manufacturers of the SG90 servo. | ||
| The pulse width required for setting the servo at 0 degrees or 180 degrees varies by | ||
| manufacturer. The driver by default uses the pulse width timing as | ||
| (low)1000 - (high)2000 microseconds. The user of this example application can change these defaults when first | ||
| invoking the program. | ||
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| If the servo does not rotate to the desired position, Example: to rotate closer to the 0 degree | ||
| point reduce the -low argument, to rotate closer to the 180 degree point increase the | ||
| -high argument. The -low -high change should be balanced or 90 degree will not properly align. | ||
| Meaning if you reduce the -low by 200, you should increase the -high by 200, or visa-versa. | ||
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| SG90 Pi | ||
| Grey/Brown Ground | ||
| Red 5V | ||
| Yellow GPIO18 config.sys contains dtoverlay=pwm-2chan | ||
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| 1. ./mvnw clean package | ||
| 2. cd target/distribution | ||
| 3. ./runSG90.sh args | ||
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| -c channel (default 2) set the channel, depending on config.txt 1 2 3 4 | ||
| -low float pulse width for 0 degree microseconds | ||
| -high float pulse width for 180 degree microseconds | ||
| -q quit | ||
| -h help | ||
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| ./runSG90.sh begins execution of the application, you then enter the desired servo degree of rotation. | ||
| Then continue entering the requested degree value, or any key will exist the program. | ||
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| Set ouput shaft at 120 degree | ||
| ./runSG90.sh | ||
| 120 | ||
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| Driver defaults to 0 degree requires a 1000 micro second pulse, 180 degree requires a 2000 microsecond pulse | ||
| If your servo requires different pulse widths | ||
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| Set low high pulse widths, then set output shaft at 120 degree | ||
| ./runSG90.sh -low 600 -high 2400 | ||
| 120 | ||
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| My SG90 aligns correctly with these values | ||
| ./runSG90.sh -low 550 -high 2450 | ||
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| If your configuration uses a channel other than 2 | ||
| ./runSG90.sh -c 1 | ||
| 120 | ||
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| /* | ||
| * /* | ||
| * * | ||
| * | ||
| */ | ||
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| package com.pi4j.devices.sg90; | ||
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| import com.pi4j.boardinfo.util.PwmChipUtil; | ||
| import com.pi4j.drivers.motor.sg90.SG90Driver; | ||
| import com.pi4j.io.pwm.Pwm; | ||
| import com.pi4j.Pi4J; | ||
| import com.pi4j.context.Context; | ||
| import com.pi4j.io.pwm.PwmConfig; | ||
| import com.pi4j.io.pwm.PwmConfigBuilder; | ||
| import com.pi4j.io.pwm.PwmType; | ||
| import com.pi4j.util.Console; | ||
| import com.pi4j.util.Delay; | ||
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| /** | ||
| * SG90 servo motor control. The driver will use the PWM device created by | ||
| * this app. It is assumed the device is a HardWare PWM. Hardware PWM creates | ||
| * a more consistent PWM signal. | ||
| * | ||
| * See README.md for more information and detail. | ||
| */ | ||
| class SG90_App { | ||
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| private static final int DEFAULT_PWM_FREQUENCY = 50; | ||
| private static final int DEFAULT_CHANNEL_NUMBER = 2; | ||
| private static final int SERVO_NUMBER = 1; | ||
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| private static Integer channel = DEFAULT_CHANNEL_NUMBER ; | ||
| private static Console console ; | ||
| private static SG90Driver sg90 ; | ||
| private static final Delay delay = new Delay(); | ||
| private static java.util.Scanner scanner; | ||
| private static float lowPulse = 1000; | ||
| private static float highPulse = 2000; | ||
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| public SG90_App() { | ||
| super(); | ||
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| } | ||
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| /** | ||
| * <p>main.</p> | ||
| * | ||
| * @param args an array of {@link java.lang.String} objects. | ||
| * @throws java.lang.Exception if any. | ||
| */ | ||
| static void main(String[] args) throws Exception { | ||
| System.setProperty("org.slf4j.simpleLogger.defaultLogLevel", "INFO"); | ||
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| scanner = new java.util.Scanner(System.in); | ||
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| console = new Console(); | ||
| Context pi4j = Pi4J.newAutoContext(); | ||
| console.title("<-- The Pi4J V5 Project Extension -->", "SG90_App"); | ||
| String helpString = " Parms: -c channel -q quit -low microseconds -high microseconds -h HELP"; | ||
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| for (int i = 0; i < args.length; i++) { | ||
| String o = args[i]; | ||
| if (o.contentEquals("-low")) { | ||
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| String a = args[i + 1]; | ||
| lowPulse = Integer.parseInt(a.substring(0)); | ||
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| i++; | ||
| } else if (o.contentEquals("-high")) { | ||
| String a = args[i + 1]; | ||
| highPulse = Integer.parseInt(a.substring(0)); | ||
| i++; | ||
| } else if (o.contentEquals("-c")) { | ||
| String a = args[i + 1]; | ||
| channel = Integer.parseInt(a.substring(0)); | ||
| i++; | ||
| }else if (o.contentEquals("-q")) { | ||
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| console.println("Exit"); | ||
| System.exit(0); | ||
| } else if (o.contentEquals("-h")) { | ||
| console.println(helpString); | ||
| System.exit(0); | ||
| }else { | ||
| console.println(" !!! Invalid Parm " + o); | ||
| console.println(helpString); | ||
| System.exit(42); | ||
| } | ||
| } | ||
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| Pwm pwm = createPwm(SERVO_NUMBER, channel, pi4j); | ||
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| sg90 = new SG90Driver(pwm, lowPulse, highPulse); | ||
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| waitChange( 10L); | ||
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| pwm.close(); | ||
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| } | ||
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| static void waitChange(long c){ | ||
| while(true){ | ||
| delay.setMillis(c).materialize(); | ||
| console.println("Enter degree value or enter any key to quit"); | ||
| if (scanner.hasNextInt() ) { | ||
| float nextDegree = scanner.nextFloat(); | ||
| if((nextDegree < 0) || (nextDegree > 180)){ | ||
| console.println(" degree must be in the range 0..180"); | ||
| }else { | ||
| sg90.setServoAngle(nextDegree); | ||
| } | ||
| } else{ | ||
| break; | ||
| } | ||
| } | ||
| } | ||
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| static Pwm createPwm(int servoNumber, Integer channel, Context pi4j) { | ||
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| final PwmConfig config = PwmConfigBuilder.newInstance (pi4j) | ||
| .id ("sg90Number" + servoNumber) | ||
| .name ("SG90 number " + servoNumber) | ||
| .channel(channel) | ||
| .pwmType(PwmType.HARDWARE) | ||
| .channel(channel) | ||
| .chip(PwmChipUtil.getPWMChip()) | ||
| .frequency(DEFAULT_PWM_FREQUENCY) | ||
| .build (); | ||
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| return pi4j.create (config); | ||
| } | ||
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| } | ||
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