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servo/servo-test.py

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+from servo import Servo
+import utime
+
+servo_pwm_freq = 50
+min_u16_duty = 1000 - 400 # offset for correction
+max_u16_duty = 6000  # offset for correction
+min_angle = 0
+max_angle = 180    
+current_angle = 0.001
+
+
+    
+pwmPin=15 #change for your pin
+motor=Servo(pwmPin)
+
+while True:
+    motor.move(0)
+    utime.sleep(1)
+    motor.move(45)
+    utime.sleep(1) 
+    motor.move(90)
+    utime.sleep(1)
+    motor.move(135)
+    utime.sleep(1)
+    motor.move(180)
+    utime.sleep(1)

servo/servo.py

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+from machine import Pin, PWM
+class Servo:
+    # these defaults work for the standard TowerPro SG90
+    __servo_pwm_freq = 50
+    __min_u16_duty = 600 # offset for correction
+    __max_u16_duty = 6000  # offset for correction
+    min_angle = 0
+    max_angle = 180    
+    current_angle = 0.001
+    
+    
+    def __init__(self, pin):
+        self.__initialise(pin)
+        
+        
+    def update_settings(self, servo_pwm_freq, min_u16_duty, max_u16_duty, min_angle, max_angle, pin):
+        self.__servo_pwm_freq = servo_pwm_freq
+        self.__min_u16_duty = min_u16_duty
+        self.__max_u16_duty = max_u16_duty
+        self.min_angle = min_angle
+        self.max_angle = max_angle
+        self.__initialise(pin)
+        
+        
+    def move(self, angle):
+        # round to 2 decimal places, so we have a chance of reducing unwanted servo adjustments
+        angle = round(angle, 2)
+        # do we need to move?
+        if angle == self.current_angle:
+            return
+        self.current_angle = angle
+        # calculate the new duty cycle and move the motor
+        duty_u16 = self.__angle_to_u16_duty(angle)        
+        self.__motor.duty_u16(duty_u16)
+        
+        
+    def __angle_to_u16_duty(self, angle):
+        return int((angle - self.min_angle) * self.__angle_conversion_factor) + self.__min_u16_duty
+    
+    
+    def __initialise(self, pin):
+        self.current_angle = -0.001
+        self.__angle_conversion_factor = (self.__max_u16_duty - self.__min_u16_duty) / (self.max_angle - self.min_angle)
+        self.__motor = PWM(Pin(pin))
+        self.__motor.freq(self.__servo_pwm_freq)