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Servos

raspbot.actuators.servo.Servo
raspbot.actuators.servo.ServoPair

Controls the pan/tilt servo channels of the Raspbot V2 via I2C register 0x02.

Servo Channel Range
PAN (horizontal) 1 0 - 180 deg
TILT (vertical) 2 0 - 110 deg (hardware limit)

Access via Robot.servos (a ServoPair).

Servo

Constructor

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class Servo:
    def __init__(self, bus: I2CBus, servo_id: ServoId | int) -> None: ...

Properties

max_angle

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@property
def max_angle(self) -> int

Maximum allowed angle for this servo (180 for PAN, 110 for TILT).

Methods

set_angle(angle)

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def set_angle(self, angle: int) -> None

Move the servo to angle degrees. The value is clamped to [0, max_angle] automatically.

Parameter Type Description
angle int Target angle in degrees

home()

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def home(self) -> None

Move the servo to 90 degrees (centre position).

ServoPair

Convenience wrapper that manages both pan and tilt servos together. This is what Robot.servos exposes.

Constructor

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class ServoPair:
    def __init__(self, bus: I2CBus) -> None: ...

Attributes

Attribute Type Description
pan Servo PAN servo (channel 1, 0-180 deg)
tilt Servo TILT servo (channel 2, 0-110 deg)

Methods

home()

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def home(self) -> None

Move both servos to their default positions: pan to 90 deg, tilt to 25 deg.

ServoId

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class ServoId(IntEnum):
    PAN  = 1
    TILT = 2

Examples

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from raspbot import Robot

with Robot() as bot:
    # Centre both servos
    bot.servos.home()

    # Pan left / right
    bot.servos.pan.set_angle(0)    # full left
    bot.servos.pan.set_angle(180)  # full right

    # Tilt down (clamped at 110 automatically)
    bot.servos.tilt.set_angle(0)   # full down
    bot.servos.tilt.set_angle(110) # full up (hardware limit)

    # Absolute angle per channel
    bot.servos.pan.set_angle(45)
    bot.servos.tilt.set_angle(30)

See also