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196 lines
6.1 KiB
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196 lines
6.1 KiB
ReStructuredText
Servo Component
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===============
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.. seo::
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:description: Instructions for setting up servos in ESPHome
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:image: servo.svg
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The ``servo`` component allows you to use servo motors with ESPHome. Servos are
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motor controllers that contain all the electronics necessary for driving the motor and provide
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a simple PWM interface to control the motor.
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This integration works with both continuous-rotation and absolute servos and has a similar
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interface to the Arduino Servo library.
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First, create an :ref:`output component <output>` (here ``esp8266_pwm``) for the pin the
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servo is connected to. Then connect that output to the servo component by assigning an ID.
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Please note the frequency of the output must be around 50Hz, as most servo controllers
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only operate in this frequency range.
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.. note::
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This component will not show up in the Home Assistant front-end automatically because
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Home Assistant doesn't have support for servos. Please see :ref:`servo-ha-config`.
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.. code-block:: yaml
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# Example configuration entry
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servo:
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- id: my_servo
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output: pwm_output
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# Example output platform
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# On ESP32, use ledc output
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output:
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- platform: esp8266_pwm
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id: pwm_output
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pin: D1
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frequency: 50 Hz
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Configuration variables:
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------------------------
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- **output** (**Required**, :ref:`config-id`): The ID of the :doc:`output component </components/output/index>`
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to use for this servo.
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- **id** (**Required**, :ref:`config-id`): The ID of this servo so that it can be controlled.
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Advanced Options:
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- **min_level** (*Optional*, percentage): The PWM duty cycle the minimum value (-100%) will map
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to. Defaults to ``3%``.
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- **idle_level** (*Optional*, percentage): The PWM duty cycle the idle value (0%) will map
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to. This is also the state of the servo at startup. Defaults to ``7.5%``.
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- **max_level** (*Optional*, percentage): The PWM duty cycle the maximum value (100%) will map
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to. Defaults to ``12.0%``.
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- **restore** (*Optional*, boolean): Whether to restore the state of the servo motor at startup.
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This is useful if you have an absolute servo motor and it goes back to its 0 position at startup.
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Defaults to ``false``.
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- **auto_detach_time** (*Optional*, :ref:`config-time`): The time after reaching the target value when the servo will be detached`, if set to zero, servo will not be detached. Defaults to ``0s``.
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- **transition_length** (*Optional*, :ref:`config-time`): The time needed for a full movement (-1.0 to 1.0). This will effectively limit the speed of the servo, the larger the value, the slowest the servo will move. Defaults to `` 0s``
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This can slow down the servo to avoid loud noises or just make the movement not jerking.
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.. note::
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Some servos support a larger range for the level. For continuous rotation servos
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this can speed them up a bit and for absolute servos this can extend their angle range.
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You can configure the ``min_level`` and ``max_level`` options to adjust the level range
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to match your servo (Experiment with these values).
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.. _servo-write_action:
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``servo.write`` Action
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----------------------
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To use your servo motor in :ref:`automations <automation>` or templates, you can use this action to set the
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target level of the servo from -100% to 100%.
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- -100% (= -1.0) is the minimum value of the servo. For continuous-rotation servos this will
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rotate the servo backward.
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- 0% (= 0.0) is the idle level of the servo. For continuous-rotation servos this will
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stop the servo.
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- 100% (= 1.0) is the maximum value of the servo. For continuous-rotation servos this will
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rotate the servo forward.
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.. code-block:: yaml
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on_...:
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then:
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- servo.write:
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id: my_servo
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level: -100.0%
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# Templated
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- servo.write:
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id: my_servo
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# For template values, range is [-1; 1]
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level: !lambda |-
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if (id(my_binary_sensor).state) {
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return 1.0;
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} else {
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return -1.0;
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}
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Configuration options:
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- **id** (**Required**, :ref:`config-id`): The ID of the servo.
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- **level** (*Optional*, percentage, :ref:`templatable <config-templatable>`): The target level.
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Range is from -100% to 100% (-1.0 to 1.0).
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.. note::
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This action can also be expressed as a :ref:`lambda <config-lambda>`:
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.. code-block:: cpp
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id(my_servo).write(1.0);
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.. _servo-detach_action:
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``servo.detach`` Action
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-----------------------
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This :ref:`Action <config-action>` allows you to disable the output on a servo motor -
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this will make the servo motor stop immediately and disable its active control.
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.. code-block:: yaml
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on_...:
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then:
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- servo.detach: my_servo
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.. note::
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This action can also be expressed as a :ref:`lambda <config-lambda>`:
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.. code-block:: cpp
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id(my_servo).detach();
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.. _servo-ha-config:
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Home Assistant Configuration
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----------------------------
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This component will not show up in the Home Assistant frontend automatically because Home Assistant
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does not support servos natively (raise this issue in Home Assistant forums to make this a
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higher priority for Home Assistant). You can add this to your Home Assistant configuration to
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be able to control the servo from the frontend.
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.. code-block:: yaml
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# Home Assistant configuration
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input_number:
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servo_control:
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name: Servo Control
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initial: 0
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min: -100
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max: 100
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step: 1
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mode: slider
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automation:
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- alias: Write Servo Value to ESP
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trigger:
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platform: state
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entity_id: input_number.servo_control
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action:
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# Replace livingroom with the name you gave the ESP
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- service: esphome.livingroom_control_servo
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data_template:
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level: '{{ trigger.to_state.state | int }}'
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.. code-block:: yaml
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# ESPHome configuration
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api:
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services:
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- service: control_servo
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variables:
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level: float
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then:
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- servo.write:
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id: my_servo
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level: !lambda 'return level / 100.0;'
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servo:
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- platform: ...
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# [...] servo config
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id: my_servo
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See Also
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--------
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- :apiref:`servo/servo.h`
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- :ghedit:`Edit`
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