servos:¶

Config file section

Valid in machine config files	YES
Valid in mode config files	NO

The servos: section of your config is where you specify any servo devices in your machine, as well as configuring their range of motion and a mapping of events that will cause the servos to move to certain positions.

Here’s an example servos: section, with two servos defined called servo1 and servo2:

servos:
  servo1:
    servo_min: 0.1
    servo_max: 0.9
    positions:
      0.0: servo1_down
      0.8: servo1_up
    reset_position: 0.5
    reset_events: reset_servo1
    number: 1
  servo2:
    positions:
      0.2: servo2_left
      1.0: servo2_home
    reset_position: 1.0
    reset_events: reset_servo2
    number: 2

servos:
  servo1:
    servo_min: 0.1
    servo_max: 0.9
    positions:
      0.0: servo1_down
      0.8: servo1_up
    reset_position: 0.5
    reset_events: reset_servo1
    number: 1
  servo2:
    positions:
      0.2: servo2_left
      1.0: servo2_home
    reset_position: 1.0
    reset_events: reset_servo2
    number: 2

Then for each servo in your servos: section, the following settings apply:

Required settings¶

The following sections are required in the servos: section of your config:

number:¶

Single value, type: string. Defaults to empty.

This is the number of the servo which specifies which driver output the servo is physically connected to. The exact format used here will depend on which control system you’re using and how the servo is connected.

See the How to configure “number:” settings guide for details.

Optional settings¶

The following sections are optional in the servos: section of your config. (If you don’t include them, the default will be used).

acceleration_limit:¶

Single value, type: number (will be converted to floating point). Default: -1.0

Acceleration limit for your servo. The unit of this value depends on your platform.

ball_search_max:¶

Single value, type: number (will be converted to floating point). Default: 1.0

The value of the second position that this servo will go to in ball search.

ball_search_min:¶

Single value, type: number (will be converted to floating point). Default: 0.0

The value of the initial position that this servo will go to in ball search.

First position in ball search

ball_search_wait:¶

Single value, type: time string (ms) (Instructions for entering time strings). Default: 5s

How long this servo will pause in each position (min and max) before moving to the other position while ball search is active.

include_in_ball_search:¶

Single value, type: boolean (true/false). Default: true

Controls whether this servo is included in ball search.

platform:¶

Single value, type: string. Defaults to empty.

Name of the platform this servo is connected to. The default value of None means the default hardware platform will be used. You only need to change this if you have multiple different hardware platforms in use and this coil is not connected to the default platform.

See the Mixing-and-Matching hardware platforms guide for details.

positions:¶

One or more sub-entries. Each in the format of number (will be converted to floating point) : string

This is a sub-section mapping of servo positions to MPF event names. For example:

    positions:
1: servo1_down
9: servo1_up
45: servo1_mid

servos:
  servo1:
    number: 1
    positions:
      0.1: servo1_down
      0.9: servo1_up
      0.45: servo1_mid

In MPF, servo ranges of motion are represented as numbers between 0.0 and 1.0. So 0.0 puts the servo at the extreme end of its range on one side as set by the servo_min: discussed below, and 1.0 moves it to the end of motion on the other side as set by the servo_max: as set below. You can use positions in between with as much precision as your servo controller will allow. (For example, a value of .4444 will tell the servo to move to 44.44% of the way between its minimum and maximum position.

The values in this positions: list represent MPF events that, when posted, tell this servo to move to a certain position. So in the example above, when the servo1_up event is posted, this servo will move to position 0.9 (90% of the way between its min and max).

You can add as many events here as you want, and the same event can be used for multiple servos.

reset_events:¶

List of one (or more) device control events (Instructions for entering device control events). Default: machine_reset_phase_3, ball_starting, ball_will_end, service_mode_entered

Default: None

Events in this list, when posted,

Default: machine_reset_phase_3, ball_starting, ball_will_end, service_mode_entered

A list of events, or a list of events with delays, that cause the servo to move to its reset position (discussed below).

Note that by default, ball_starting is a reset event, so if you don’t want the servo to reset on the start of each ball, you can override that like this:

    reset_events: machine_reset_phase_3, ball_will_end, service_mode_entered

servos:
  servo1:
    number: 1
    reset_events: machine_reset_phase_3, ball_will_end, service_mode_entered

reset_position:¶

Single value, type: number (will be converted to floating point). Default: 0.5

The position the servo will move to when its reset.

servo_max:¶

Single value, type: number (will be converted to floating point). Default: 1.0

A numerical value that’s sent to the servo which represents the servo’s max position in relation to the servo_max: set in the controllers configuration. The actual value for this is normalized to 0.0 to 1.0 here. The controllers will convert it for the corresponding hardware.

Note that the position settings earlier are always 0.0 to 1.0, and the max (and min, discussed below) are used to calculate what actual values are sent to the servo.

So if you have servo_max: 1.0 and servo_min: 0.5, and then you set the servo position to 0.5, the actual value sent will be 0.75. That position will be converted to an actual position in the hardware controller.

servo_min:¶

Single value, type: number (will be converted to floating point). Default: 0.0

Like servo_max: above, except the minimum lower-end setting for values that are sent to the servo controller.

speed_limit:¶

Single value, type: number (will be converted to floating point). Default: -1.0

The maximum speed of this servo. The unit of this value depends on your platform.

console_log:¶

Single value, type: one of the following options: none, basic, full. Default: basic

Log level for the console log for this device.

debug:¶

Single value, type: boolean (true/false). Default: false

Enables more detailed debug information to be added to the log (when verbose logging is enabled).

file_log:¶