Differences

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--- 04_projects:03_rpi2040_pico_mmu [2025/08/21 18:52] – [Prototype and build controller board] jattie
+++ 04_projects:03_rpi2040_pico_mmu [2025/08/22 18:34] (current) – [Prototype and build controller board] jattie
@@ Line 306: / Line 306: @@
         }
     def decl_command(self, req):
-        if "prtouch" in req or "get_pres" in req or "get_steps" in req or "step_prtouch" in req:
+        #if "prtouch" in req or "get_pres" in req or "get_steps" in req or "step_prtouch" in req:
+        #    return
+        if any(key in req for key in ("prtouch", "get_pres", "get_steps", "step_prtouch")):
             return
         funcname, flags, msgname = req.split()[1:4]
@@ Line 439: / Line 441: @@
   * Voltage Regulator/Buck Convertor
   * Connectors and Powersupplies
+==== How Servo Direction Works (ES3004 and Similar) ====
+  * The servo receives a PWM signal at 50 Hz (one pulse every 20 ms).
+  * The length of each pulse (in microseconds) tells the servo what angle to move to.
+  * Direction is determined by whether the pulse width is increasing or decreasing:
+  * Shorter pulse (e.g., 700 µs) → rotate counter-clockwise
+  * Longer pulse (e.g., 2300 µs) → rotate clockwise
+  * The servo does not rotate continuously—it moves to a position and holds it.
+==== Direction Is Relative to Neutral ====
+Neutral position is around 1500 µs
+From there:
+  * Decreasing pulse width → moves left (CCW)
+  * Increasing pulse width → moves right (CW)
+<WRAP center round tip 60%>
+So you're not telling it “go left” or “go right”—you're telling it “go to this position,” and the servo figures out the direction internally.
+</WRAP>
 ===== Assemble and configure the MMU =====