3ative / servos

Using Servos in Home Assistant with ESPHome

Using Servos from ESPHome is quite simple. Check out the 🎬YouTube tutorial for setting up and options available.

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The Basic Setup:

🛠 The servo: Component:

servo:
  - id: servo1
    output: output1

❓ Optional Servo settings and calibration:

    auto_detach_time: 5s  # Optional - Default 0 (Always On)
    transition_length: 0s # Optional - Default 0 (Max Speed)
    min_level: 2.7%   # Optional - Default 3%
    idle_level: 7.3%  # Optional - Default 7.5%
    max_level: 12.2%  # Optional - Default 12.5%

🛠 The output: Component:

output:
  - platform: ledc # For ESP8266 use: esp8266_pwm
    id: output1
    pin: [YOUR GPIO]
    frequency: 50 Hz # MUST BE 50Hz

🛠 The number: (Slider) Component:

number:
  - platform: template
    id: servoSlider1
    name: $name 1
    icon: mdi:sync
    optimistic: true
    min_value: -100
    max_value: 100
    initial_value: 0
    step: 5
    on_value:
      then:
        - lambda: !lambda |-
            // Servo Write range is: -1.0 to 1.0, so divide by 100
            id(servo1).write(x / 100.0);

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Advanced Code-y Bits

🎁 ADVANCED Part 1: Use on_boot: to set position at Start-up:

esphome:
  ...
  on_boot:
    priority: -100
    then:
      - lambda: !lambda |-
          id(servoSlider1).make_call().set_value(0).perform();

🎁 ADVANCED Part 2-1: SINE Waving Servo 5:

• Use interval: to Calculate Sine Values:

globals:
  - id: sine_wave_phase
    type: float
    restore_value: no
    initial_value: '0.0'

  - id: sine_wave_range
    type: float
    restore_value: no
    initial_value: '0.0'
  
  - id: sine_wave_speed
    type: float
    restore_value: no
    initial_value: '1.0'

interval:
  - interval: 40ms
    then:
      if:
        condition:
          switch.is_on: sinEnable
        then:
          - lambda: |-
              auto t = id(sine_wave_phase);
              auto range = id(sine_wave_range);
              auto speed = id(sine_wave_speed);

              // Increment phase
              t += (2 * PI) / speed;
              if (t >= 2 * PI) t = 0; // Reset the phase after a full cycle

              id(sine_wave_phase) = t;
              int value = round(range * sin(t));

              id(servoSlider5).publish_state(value);

switch:
  - platform: template
    id: sinEnable
    name: $name 5 Enable Sine
    optimistic: true

🎁 ADVANCED Part 2-2: SINE Waving Servo 5:

• The Two Extra number: Components to control the SINE Values :

  - platform: template
    id: servoRange
    name: $name 5 Range
    min_value: 0
    max_value: 100
    initial_value: 0
    step: 5
    optimistic: True
    on_value: 
      then:
        - lambda: !lambda |-
            id(sine_wave_range) = x;

  - platform: template
    id: servoSpeed
    name: $name 5 Speed
    min_value: 0
    max_value: 100
    initial_value: 5
    step: 1
    optimistic: True
    on_value: 
      then:
        - lambda: !lambda |-
            id(sine_wave_speed) = 5 + (100-x);

🎁 ADVANCED Part 2-3: SINE Waving Servo 5:

• Stop Spamming the logger::

logger:
  logs:
    number: none
    servo: none

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