#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/ledc.h"
#define SERVO_PIN1 GPIO_NUM_2
#define SERVO_PIN2 GPIO_NUM_12
#define SERVO_MIN_PULSEWIDTH_US 200
#define SERVO_MAX_PULSEWIDTH_US 1250
#define SERVO_MAX_DEGREE 360
void servo_control_task(void *pvParameter) {
ledc_timer_config_t ledc_timer = {
.duty_resolution = LEDC_TIMER_13_BIT,
.freq_hz = 50,
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_num = LEDC_TIMER_0
};
ledc_timer_config(&ledc_timer);
ledc_channel_config_t ledc_channel1 = {
.channel = LEDC_CHANNEL_0,
.duty = 0,
.gpio_num = SERVO_PIN1,
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_sel = LEDC_TIMER_0
};
ledc_channel_config(&ledc_channel1);
ledc_channel_config_t ledc_channel2 = {
.channel = LEDC_CHANNEL_0,
.duty = 0,
.gpio_num = SERVO_PIN2,
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_sel = LEDC_TIMER_0
};
ledc_channel_config(&ledc_channel2);
while (1) {
// Sweep from 0 degree to 180 degree
for (int i = 0; i <= SERVO_MAX_DEGREE; i+=10) {
int duty_cycle = SERVO_MIN_PULSEWIDTH_US + ((SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / SERVO_MAX_DEGREE) * i;
ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0, duty_cycle);
ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0);
vTaskDelay(250/ portTICK_PERIOD_MS);
}
// Sweep from 180 degree to 0 degree
for (int i = SERVO_MAX_DEGREE; i >= 0; i-=10) {
int duty_cycle = SERVO_MIN_PULSEWIDTH_US + ((SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / SERVO_MAX_DEGREE) * i;
ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0, duty_cycle);
ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0);
vTaskDelay(250 / portTICK_PERIOD_MS);
}
}
}
void app_main() {
xTaskCreate(&servo_control_task, "servo_control_task", configMINIMAL_STACK_SIZE * 4, NULL, 5, NULL);
}