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feat(firmware): Servo driver — PWM output for pan-tilt camera head #206

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opened 2026-03-02 11:17:24 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:17:24 -05:00
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Single-file driver. servo.h/servo.c — TIM4 PWM on CH1 (PB6) pan + CH2 (PB7) tilt. servo_set_angle(channel, degrees) maps 0-180 to 500-2500us pulse. servo_sweep(channel, start, end, speed_dps) for smooth motion. Default center position on boot. Include unit tests.

Single-file driver. servo.h/servo.c — TIM4 PWM on CH1 (PB6) pan + CH2 (PB7) tilt. servo_set_angle(channel, degrees) maps 0-180 to 500-2500us pulse. servo_sweep(channel, start, end, speed_dps) for smooth motion. Default center position on boot. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#206
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