Servo Module

Control standard hobby servos (SG90, MG996R, etc.) with angle or microsecond precision.

Firmware setup

Add the compile flag and register the module:

; platformio.ini
build_flags = -DCONDUYT_MODULE_SERVO

#include <Conduyt.h>

ConduytSerial transport(Serial, 115200);
ConduytDevice device("ServoBot", "1.0.0", transport);

void setup() {
  Serial.begin(115200);
  device.addModule(new ConduytModuleServo());
  device.begin();
}

void loop() {
  device.poll();
}

Wiring

Servo            Board
─────            ─────
Signal (orange/white) ──► PWM pin (e.g. pin 9)
VCC (red)             ──► 5V
GND (brown/black)     ──► GND

Important: For high-torque servos (MG996R and larger), power them from an external 5V supply, not the Arduino's 5V pin. The Arduino can't source enough current and may brown out. Connect all grounds together (Arduino GND + external supply GND + servo GND).

Which pins work?

• Arduino Uno: PWM pins only - 3, 5, 6, 9, 10, 11
• ESP32: Any GPIO pin works (uses the LEDC peripheral)
• Pico: Any GPIO pin works

Host usage

JavaScript

npm install conduyt-js

// servo.mjs
import { ConduytDevice } from 'conduyt-js'
import { SerialTransport } from 'conduyt-js/transports/serial'
import { Servo } from 'conduyt-js/modules/servo'

const device = await ConduytDevice.connect(
  new SerialTransport({ path: '<YOUR_PORT>' })
)

const servo = new Servo(device, 0)   // 0 = first registered module

// Attach to pin 9 with default pulse range (544–2400 microseconds)
await servo.attach(9, 544, 2400)

// Sweep from 0 to 180 degrees
for (let angle = 0; angle <= 180; angle += 10) {
  await servo.write(angle)
  console.log(`Angle: ${angle}`)
  await new Promise(r => setTimeout(r, 200))
}

// Precise positioning with microseconds
await servo.writeMicroseconds(1500)  // center position
console.log('Centered at 1500us')

await servo.detach()
await device.disconnect()

node servo.mjs

Python

pip install conduyt-py[serial]

# servo.py
import asyncio
from conduyt import ConduytDevice
from conduyt.transports.serial import SerialTransport
from conduyt.modules import ConduytServo


async def main():
    device = ConduytDevice(SerialTransport('<YOUR_PORT>'))
    await device.connect()

    servo = ConduytServo(device, module_id=0)
    await servo.attach(pin=9, min_us=544, max_us=2400)

    # Sweep
    for angle in range(0, 181, 10):
        await servo.write(angle)
        print(f"Angle: {angle}")
        await asyncio.sleep(0.2)

    await servo.detach()
    await device.disconnect()


asyncio.run(main())

Command reference

Notes

• Most servos accept 544–2400 microseconds. Pass custom min/max to attach() if your servo has a different range.
• Angles outside 0–180 are clamped by the firmware.
• Call detach() when done to free the PWM channel for other use.