===== Servo tab =====

This tab contains parameters for configuring the two RC-servo ports on Pixy2. The port pinouts, as well as which port is which can be found [[wiki:v2:Port_Pinouts|here]]. The Servo tab is present regardless of the program that's running on Pixy2.  To bring up the Servo tab, first bring up the Configure Dialog (click on the gear icon or select **File➜Configure**). Now select the **Servo** tab under **Pixy Parameters**.


Different brands of RC-servos tend to require different timings, which can lead to the servos moving more or less than desired or that they are capable of.  This dialog can help address these differences. 


{{wiki:v2:image_202.png}}


  * **S0 lower limit:** This parameter sets the lower limit of servo 0.

  * **S0 upper limit:** This parameter sets the upper limit of servo 0.

  * **S1 lower limit:** This parameter sets the lower limit of servo 1.

  * **S1 lower limit:** This parameter sets the upper limit of servo 1.

  * **Servo frequency:** measured in Hz, this parameter sets the frequency of the PWM signal that controls both servos.


Note: the lower limit values control how far clockwise the servos move, with more negative being farther clockwise. The upper limit values control how far counter-clockwise the servos move, with more positive being farther counter-clockwise.

You can test the limits by issuing servo move commands from the console window. You can bring up the console window by selecting **Console** in the **View** menu.  Hit the **stop** button and type in the following commands:

  * "rcs\_setPos 0 0" moves servo 0 to its clockwise limit
  * "rcs\_setPos 0 1000" moves servo 0 to its counter-clockwise limit
  * "rcs\_setPos 1 0" moves servo 0 to its clockwise limit
  * "rcs\_setPos 1 1000" moves servo 0 to its counter-clockwise limit