1 00:00:06,070 --> 00:00:11,050 Now we will learn about how we can control the servo motor using ros2. 2 00:00:11,110 --> 00:00:18,460 And for that we have to include a library which is esp32 servo library, and this will be dealing with 3 00:00:18,460 --> 00:00:23,590 the servo stuff and we will click sketch include library manage libraries. 4 00:00:25,720 --> 00:00:31,180 And from here we can search our library, which is Esp32 and Servo. 5 00:00:35,400 --> 00:00:42,630 This is the library Esp32 server and you can click install and this will be installed. 6 00:00:44,040 --> 00:00:53,130 And now we will go to the file example we will look for that included library which is here Esp32 server 7 00:00:53,130 --> 00:00:55,890 and it has the example code. 8 00:00:56,280 --> 00:01:04,800 We are going to select these three and we will take this code as a reference and we will be editing 9 00:01:04,830 --> 00:01:10,320 and modifying our code and first place we will include this library. 10 00:01:11,310 --> 00:01:13,610 There is an object of desire. 11 00:01:15,770 --> 00:01:16,070 Okay. 12 00:01:16,070 --> 00:01:18,680 Then we have to mention the server pin. 13 00:01:19,040 --> 00:01:22,220 This server pin in our case is. 14 00:01:24,040 --> 00:01:26,920 So is connected to the PIN number 12. 15 00:01:27,100 --> 00:01:28,210 Here you can see. 16 00:01:28,390 --> 00:01:31,240 So we will try to 12. 17 00:01:31,900 --> 00:01:38,860 So in the word setup, we have to mention all these conventions that is provided by the example code. 18 00:01:39,970 --> 00:01:46,540 We will copy this simply and go to the word setup. 19 00:01:46,540 --> 00:01:52,030 And here we will mention this, verify this if everything goes well. 20 00:01:52,920 --> 00:01:57,810 So our library is included successfully and it's also configured. 21 00:01:57,840 --> 00:02:01,830 Now we have to create a subscriber for the server. 22 00:02:01,860 --> 00:02:05,580 Here we will create the object of the server. 23 00:02:12,640 --> 00:02:15,310 And we can now close this in here. 24 00:02:15,310 --> 00:02:17,370 We have to create the subscriber for this. 25 00:02:17,380 --> 00:02:24,190 The message will be again and add because in the server we have to operate the server from angle zero 26 00:02:24,190 --> 00:02:29,500 to angle 45 at the maximum and we can easily handle in in it. 27 00:02:29,530 --> 00:02:39,820 Let's mention a server subscriber here, subscriber and here we will also add this line for a new subscriber. 28 00:02:40,630 --> 00:02:48,220 We are feeding the subscriber to the executor and here we have mentioned the server subscriber server 29 00:02:48,220 --> 00:02:52,510 message and here it is server callback that we have to create right now. 30 00:02:52,510 --> 00:02:58,020 And here we will write the server callback function and and there will be a position of this server. 31 00:02:58,030 --> 00:03:04,810 Let's create a variable that is in server position that will be keeping track of the server position 32 00:03:04,810 --> 00:03:09,760 as we have to limit the server position to 45 degree angle. 33 00:03:09,760 --> 00:03:18,460 So we will be creating a function and limit to maximum value and it takes the input value and the maximum 34 00:03:18,460 --> 00:03:19,060 value. 35 00:03:19,090 --> 00:03:24,400 If the value exceeds the maximum limit, it will then give us the maximum allowed limit. 36 00:03:24,430 --> 00:03:31,150 It means whenever a user inputs 180 degree angle, it will not feed the 180 degree. 37 00:03:31,150 --> 00:03:31,570 Exactly. 38 00:03:31,570 --> 00:03:36,490 Because if it feeds 180 degree angle, the server will be pushing its boundary. 39 00:03:36,520 --> 00:03:39,460 For that reason, we will limit here the server position. 40 00:03:39,460 --> 00:03:48,490 Variable server position is limited to the maximum value and then the angle that is coming from here, 41 00:03:48,490 --> 00:03:55,660 we will give it to the maximum of 14 degree angle just so we save and then write this server position 42 00:03:55,660 --> 00:03:58,390 to the my server. 43 00:03:58,570 --> 00:04:06,390 So this position will be given to the server motor and the server motor will reach that angle. 44 00:04:06,400 --> 00:04:09,880 Let's save this and verify checks. 45 00:04:09,880 --> 00:04:13,670 This is compiled now we have to upload this. 46 00:04:17,220 --> 00:04:18,980 And now this is uploaded. 47 00:04:18,990 --> 00:04:26,460 Now remember that in our circuit, this servo motor will be powered when we turn on the switch. 48 00:04:26,460 --> 00:04:33,030 By using just the power, we cannot operate the servo motor because it draws a lot of current and it 49 00:04:33,030 --> 00:04:37,260 is directly powered by the battery, not from the voltage booster. 50 00:04:37,260 --> 00:04:41,820 So you have to disconnect the wire of the esp32 and then we will turn the switch on. 51 00:04:41,820 --> 00:04:45,760 In order to operate, we will connect via Wi-Fi. 52 00:04:45,810 --> 00:04:49,320 Disconnect from here, turn on the switch. 53 00:04:50,310 --> 00:04:54,300 Now we will be connecting it via micro Ross Agent. 54 00:05:00,270 --> 00:05:02,720 And now we have run the command. 55 00:05:02,730 --> 00:05:05,130 But this is not connected yet. 56 00:05:05,160 --> 00:05:07,530 Now we will do a restart. 57 00:05:18,190 --> 00:05:19,990 And just now this is connected. 58 00:05:24,350 --> 00:05:25,970 There is the topic. 59 00:05:25,970 --> 00:05:31,820 So now you have to publish value over this topic in order to operate this server. 60 00:05:37,610 --> 00:05:38,780 It is not moving. 61 00:05:38,780 --> 00:05:43,440 So we have one thing that we have made a mistake. 62 00:05:43,460 --> 00:05:47,520 We do not allow it to execute two threads. 63 00:05:47,550 --> 00:05:51,050 We have to update this number and change it to two. 64 00:05:51,080 --> 00:05:52,040 Save it. 65 00:05:52,340 --> 00:05:59,630 And now we have to turn off the robot and plug in the esp32. 66 00:05:59,900 --> 00:06:02,690 And now upload it again. 67 00:06:07,220 --> 00:06:12,800 Okay, now disconnect the wire and turn on the button. 68 00:06:14,150 --> 00:06:17,510 Reconnect with the micro station. 69 00:06:17,510 --> 00:06:18,500 This is connected. 70 00:06:18,500 --> 00:06:20,540 And now we will publish. 71 00:06:23,400 --> 00:06:24,510 The published zero. 72 00:06:27,220 --> 00:06:28,770 Yes, this goes to zero. 73 00:06:28,770 --> 00:06:30,840 And if we publish ten. 74 00:06:33,790 --> 00:06:38,200 Justices giving this response, they will give it again. 75 00:06:39,220 --> 00:06:40,180 40. 76 00:06:45,440 --> 00:06:48,440 Yes, this is absolutely working. 77 00:06:48,470 --> 00:06:49,700 That's it for now.