====== Servo Tab ======

This tab contains parameters for configuring the two RC-servo ports on Pixy. The port pinouts, as well as which port is which can be found [[wiki:v1:Port_Pinouts|here]]. 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**.

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  * **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 command/status window. 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