ESP IDF 伺服库

简介

这个包是对 esp-idf-sys 绑定的简单包装，使用 LEDC 模块使伺服控制更容易。

基本用法

创建基本的伺服配置 - 这一个针对 SG90 系列伺服电机。

let peripherals = Peripherals::take().unwrap();

let servo_cfg = ServoConfig {
    // below are servo specific configurations
    max_angle: 180,
    min_width_us: 500,
    max_width_us: 2500,
    frequency: 50,
    
    // choose your timer: see https://esp-rs.github.io/esp-idf-sys/esp_idf_sys/?search=ledc_timer_t_LEDC_TIMER_0
    timer_number: 0,

    // whichever pin the servo is attached to
    pin: 5,

    // the channel number: see https://esp-rs.github.io/esp-idf-sys/esp_idf_sys/type.ledc_channel_t.html
    channel: 0,

    // the speed mode: see https://esp-rs.github.io/esp-idf-sys/esp_idf_sys/constant.ledc_mode_t_LEDC_LOW_SPEED_MODE.html
    speed_mode: 0,
};

初始化伺服

let servo = Servo::init(servo_cfg);

在您的程序中更改伺服的角度

loop {
    for i in 0..180 {

        servo.write_angle((i as f64));

        FreeRtos::delay_ms(20);

        println!("Angle: {}", servo.read_angle());
    }

    for i in (0..180).rev() {
            
        servo.write_angle((i as f64));

        FreeRtos::delay_ms(20);
        
        println!("Angle: {}", servo.read_angle());
    }
}