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Servo Motion Control

Servo Motion Control

Implement smooth angular motion. This project demonstrates how to use 16-bit Pulse Width Modulation (PWM) to control the precise position of a virtual micro-servo motor.

Project Goal: Configure a 50Hz PWM signal on GP15. Sweep the duty cycle between 1638 (0°) and 8192 (180°) to create a continuous back-and-forth motion.

1. Wiring Blueprint

From Component Servo Wire Pico Pin Notes
SG90 ServoSignal (Orange)GP1550Hz PWM Required
SG90 ServoVCC (Red)3V33.3V Power Rail
SG90 ServoGND (Brown)GNDCommon Ground

2. JavaScript Implementation

The SDK allows for direct 16-bit duty cycle manipulation, providing ultra-smooth movement.

JavaScript (SDK) 
import intarva, { PWM, Pin, sleep } from 'intarva';

const srv = new PWM('GP15');
srv.freq(50); // Standard 50Hz for Servos

async function run() {
    console.log("Servo Motion: Initializing sweep...");
    const min_duty = 1638; // 0 degrees
    const max_duty = 8192; // 180 degrees
    const step = 200;      // Resolution of movement

    while (true) {
        // Sweep Forward
        for (let duty = min_duty; duty < max_duty; duty += step) {
            srv.duty_u16(duty);
            await sleep(50);
        }
        // Sweep Backward
        for (let duty = max_duty; duty > min_duty; duty -= step) {
            srv.duty_u16(duty);
            await sleep(50);
        }
    }
}

intarva.on('ready', run);