sl-firmware created pull request seb/saltylab-firmware#210

sl-firmware
Mon, 02 Mar 2026 11:39:55 -0500

210#feat(firmware): pan-tilt servo driver (Issue #206)#

Implements TIM4 PWM driver for pan-tilt camera control:

Pan (PB6) & Tilt (PB7) servo control at 50Hz

0-180° angle mapping to 500-2500µs pulse width

Non-blocking servo_set_angle() and servo_sweep() APIs

Smooth animation with linear interpolation

15 comprehensive unit tests (all passing)

Ready for integration into main firmware.