Features

• ✨ Simple, intuitive API for servo control
• 🎯 Angle-based and PWM pulse-width control
• 🔧 Flexible configuration for different servo types and ranges
• 🐍 Works on both standard Python and MicroPython (Raspberry Pi Pico, ESP32, etc.)
• 📦 Zero external dependencies
• ⚡ Lightweight and efficient

Installation

Standard Python (PyPI)

pip install rcservo

MicroPython (recommended via mip)

1. Open https://viperIDE.org and launch the IDE.
2. Go to Tools > Package Manager > Install package via link.
3. Paste the manifest URL:

https://raw.githubusercontent.com/antonvh/rcservo/master/package.json

1. Confirm and let mip install the library on your board.

You can install the same manifest from a terminal with mpremote:

mpremote mip install github:antonvh/rcservo

MicroPython (manual copy)

Copy servo.py to your MicroPython device:

# Using mpremote (Raspberry Pi Pico, etc.)
mpremote cp servo.py :

# Or using ampy (ESP32, ESP8266, etc.)
ampy --port /dev/ttyUSB0 put servo.py

Quick Start

from servo import Servo

# Create a servo instance on GPIO pin 12
servo = Servo(pin=12)

# Set servo angle (-90 to +90 degrees)
servo.angle(45)

# Set servo angle to neutral (0 degrees)
servo.angle(0)

# Set servo angle to far left (-90 degrees)
servo.angle(-90)

Usage

Basic Initialization

from servo import Servo

# Default configuration (1000-2000 µs pulse width, -90 to +90 degrees)
servo = Servo(pin=12)

Custom Configuration

# Custom servo with different pulse width ranges
servo = Servo(
    pin=12,
    min_pulse=800,      # Minimum pulse width in microseconds
    max_pulse=2200,     # Maximum pulse width in microseconds
    min_angle=-120,     # Minimum angle
    max_angle=120       # Maximum angle
)

Control Methods

# Set servo angle
servo.angle(45)  # Move to 45 degrees

# Set servo PWM pulse width directly (in microseconds)
servo.pwm(1500)  # Set to 1500 µs pulse

Hardware Requirements

• Servo motor: Standard hobby servo or RC servo with PWM control
• Microcontroller: Any board with PWM GPIO output capability:
  • Raspberry Pi Pico (MicroPython)
  • ESP32 / ESP8266 (MicroPython)
  • Arduino (with Python via Micropython)
  • Raspberry Pi / BeagleBone (standard Python)
  • Any board supported by CPython or MicroPython
• Power supply: Appropriate for your servo (typically 4.8–6V for hobby servos)

API Reference

Servo Class

__init__(pin, min_pulse=1000, max_pulse=2000, min_angle=-90, max_angle=90)

Initialize a servo on the specified pin.

Parameters:

• pin (int): GPIO pin number
• min_pulse (int): Minimum pulse width in microseconds. Default: 1000
• max_pulse (int): Maximum pulse width in microseconds. Default: 2000
• min_angle (int): Minimum angle. Default: -90
• max_angle (int): Maximum angle. Default: 90

angle(angle)

Set the servo to a specific angle.

Parameters:

• angle (float or int): Target angle. Will be clamped between min_angle and max_angle.

pwm(pwm)

Set the servo pulse width directly.

Parameters:

• pwm (int or float): Pulse width in microseconds. Will be clamped between min_pulse and max_pulse.

Notes

• Angles are clamped to the configured min/max range
• Pulse widths are clamped to the configured min/max range
• Standard hobby servo pulse: 1000–2000 µs for −90 to +90 degrees
• 1500 µs corresponds to neutral (0 degrees) by default
• MicroPython implementation is memory-efficient and suitable for embedded devices

Use Cases

• Robotics: Pan-tilt camera mounts, robot arms, legs
• RC Projects: Model airplanes, cars, boats with servo control
• IoT: Home automation with servo-controlled blinds, doors, valves
• Education: Teaching microcontroller PWM and servo control concepts
• Hobbyist Projects: Camera sliders, gimbal systems, mechanical displays

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

MIT License — See LICENSE file for details.

Author

Anton Vanhoucke