34 lines
954 B
Markdown
34 lines
954 B
Markdown
---
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id: TASK-128
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title: Pico firmware — servo + LED drivers
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status: Done
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assignee: []
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created_date: '2026-03-29 20:51'
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labels:
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- firmware
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- hardware
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milestone: m-2
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dependencies: []
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priority: high
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---
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## Description
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<!-- SECTION:DESCRIPTION:BEGIN -->
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Write config.py, servo_driver.py (PCA9685 I2C, smooth interpolation), and led_driver.py (GPIO PWM brightness) for Raspberry Pi Pico.
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<!-- SECTION:DESCRIPTION:END -->
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## Acceptance Criteria
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<!-- AC:BEGIN -->
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- [ ] #1 PCA9685 init at 50Hz, set_angle with 500-2500us mapping
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- [ ] #2 Smooth interpolation in configurable degree steps
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- [ ] #3 LED PWM 0-255, blink helper, deinit cleanup
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- [ ] #4 Config centralises all pin/calibration constants
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<!-- AC:END -->
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## Final Summary
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<!-- SECTION:FINAL_SUMMARY:BEGIN -->
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Three firmware files: config.py (constants), servo_driver.py (PCA9685 two-class design with smooth interp), led_driver.py (hardware PWM on GP15).
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<!-- SECTION:FINAL_SUMMARY:END -->
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