Compatible with Arduino ESP32 v3.0.0+ with advanced PWM hardware support.
https://github.com/espressif/arduino-esp32/releases
This library provides enhanced PWM control for ESP32 boards, faithfully replicating Arduino Servo semantics while adding advanced hardware support:
- ESP32S3 MCPWM Support: Hardware-accelerated servo control for optimal timing precision
- Dual Hardware Architecture: 20 PWM channels (8 LEDC + 12 MCPWM) with intelligent allocation
- Flexible Frequency Modes: Variable-frequency PWM and fixed-frequency servo control
- Automatic Fallback: Seamless hardware allocation when preferred resources are unavailable
- Backward Compatible: Drop-in replacement for existing Arduino Servo code
| ESP32 Variant | LEDC Channels | MCPWM Channels | Total Channels |
|---|---|---|---|
| ESP32S3 | 8 | 12 | 20 |
| ESP32S2 | 8 | - | 8 |
| ESP32 | 16 | - | 16 |
| ESP32C3 | 6 | - | 6 |
#include <ESP32Servo.h>
Servo myservo;
myservo.attach(18); // Attach to pin 18
myservo.write(90); // Set to 90 degrees#include <ESP32PWM.h>
// Variable frequency (default) - LEDC preferred
ESP32PWM pwm1; // or ESP32PWM pwm1(true);
// Fixed frequency - MCPWM preferred
ESP32PWM pwm2(false); // Optimal for servos
pwm1.attachPin(19, 1000, 10); // 1kHz, 10-bit resolution
pwm2.attachPin(21, 50, 10); // 50Hz, 10-bit resolutionCopyright (c) 2017 John K. Bennett. All right reserved.
This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Servo - Class for manipulating servo motors connected to ESP32 pins.
int attach(pin ) - Attaches the given GPIO pin to the next free channel
(channels that have previously been detached are used first),
returns channel number or 0 if failure. All pin numbers are allowed,
but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
int attach(pin, min, max ) - Attaches to a pin setting min and max
values in microseconds; enforced minimum min is 500, enforced max
is 2500. Other semantics are the same as attach().
void write () - Sets the servo angle in degrees; a value below 500 is
treated as a value in degrees (0 to 180). These limit are enforced,
i.e., values are constrained as follows:
Value Becomes
----- -------
< 0 0
0 - 180 value (treated as degrees)
181 - 499 180
500 - (min-1) min
min-max (from attach or default) value (treated as microseconds)
(max+1) - 2500 max
void writeMicroseconds() - Sets the servo pulse width in microseconds.
min and max are enforced (see above).
int read() - Gets the last written servo pulse width as an angle between 0 and 180.
int readMicroseconds() - Gets the last written servo pulse width in microseconds.
bool attached() - Returns true if this servo instance is attached to a pin.
void detach() - Stops an the attached servo, frees the attached pin, and frees
its channel for reuse.
setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
as a side effect, the pulse width is recomputed.
int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
default min pulse width for attach(): 544us
default max pulse width for attach(): 2400us
default timer width 16 (if timer width is not set)
default pulse width 1500us (servos are initialized with this value)
MINIMUM pulse with: 500us
MAXIMUM pulse with: 2500us
MAXIMUM number of servos: Varies by ESP32 variant
- ESP32S3: 20 channels (8 LEDC + 12 MCPWM)
- ESP32: 16 channels (16 LEDC)
- ESP32S2: 8 channels (8 LEDC)
- ESP32C3: 6 channels (6 LEDC)