servo

Description

This sample demonstrates the functionality of the MG996R servo motor. This is done by endlessly varying the current angle from 0 degress (leftmost position) to 180 degrees (rightmost position) using a step size of 10 degress. As per the MG996R datasheet, the period of the PWM signal is set to 20ms.

Purpose

Use this sample to check if you’ve successfully managed to hook up the MG996R servo motor to your development board.

Hardware

This sample requires the MG996R servo motor be connected to the development board. Information on how to set up the servo motor can be found here: The MG996R servo motor.

Where to find?

This sample is located under: samples/servo.

API reference

You can find the API documentation here.

Configurations

This sample has no configurable feats.

How to build

To build this sample, run:

west build -p -b frdm_imx93//a55 samples/servo -D DTC_OVERLAY_FILE=frdm_imx93.overlay

west build -p -b frdm_imx93//a55 samples\servo -D DTC_OVERLAY_FILE=frdm_imx93.overlay

The resulting binary may be found under: build/zephyr/zephyr.bin.

How to run

To run the sample, follow the steps detailed in Booting the board.

Expected behavior

If everything went well, your serial console (ttyACM1/COM4) should continuously display messages similar to the ones shown below:

Furthermore, the motor’s rotation angle should change by 10 degrees every second as shown below [1], [2]: