ESP32 - Servo Motor

This tutorial instructs you how to use ESP32 to control a servo motor.

Hardware Used In This Tutorial

1×ESP-WROOM-32 Dev Module
1×USB Cable Type-C
1×Servo Motor
1×Jumper Wires
1×(Optional) DC Power Jack
1×(Recommended) ESP32 Screw Terminal Adapter

Or you can buy the following sensor kits:

1×DIYables Sensor Kit (30 sensors/displays)
1×DIYables Sensor Kit (18 sensors/displays)
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Introduction to Servo Motor

The standard servo motor is a motor that can rotate between 0° and 180°.

Servo Motor Pinout

The servo motor has three pins:

  • GND pin: (brown or black) connects this pin to GND (0V)
  • VCC pin: (red) connects this pin to VCC (5V)
  • Signal pin: (yellow or orange) receives the PWM control signal from an ESP32's pin.
Servo Motor Pinout

How Servo Motor Works

See How servo motor works

Wiring Diagram between Servo Motor and ESP32

ESP32 Servo Motor Wiring Diagram

This image is created using Fritzing. Click to enlarge image

If you're unfamiliar with how to supply power to the ESP32 and other components, you can find guidance in the following tutorial: How to Power ESP32.

For the sake of simplicity, the above wiring diagram is used for the testing or learning purposes, and for small-torque servo motor. In practice, we highly recommend using the external power supply for the servo motor. The below wiring diagram shows how to connect servo motor to an external power source.

ESP32 servo motor external power supply wiring diagram

This image is created using Fritzing. Click to enlarge image

The below show a real wiring between servo motor and ESP32.

ESP32 servo motor power supply wiring diagram

ESP32 Code

/* * This ESP32 code is created by * * This ESP32 code is released in the public domain * * For more detail (instruction and wiring diagram), visit */ #include <Servo.h> #define SERVO_PIN 26 // ESP32 pin GPIO26 connected to servo motor Servo servoMotor; void setup() { servoMotor.attach(SERVO_PIN); // attaches the servo on ESP32 pin } void loop() { // rotates from 0 degrees to 180 degrees for (int pos = 0; pos <= 180; pos += 1) { // in steps of 1 degree servoMotor.write(pos); delay(15); // waits 15ms to reach the position } // rotates from 180 degrees to 0 degrees for (int pos = 180; pos >= 0; pos -= 1) { servoMotor.write(pos); delay(15); // waits 15ms to reach the position } }

Quick Instructions

  • If this is the first time you use ESP32, see how to setup environment for ESP32 on Arduino IDE.
  • Do the wiring as above image.
  • Connect the ESP32 board to your PC via a micro USB cable
  • Open Arduino IDE on your PC.
  • Select the right ESP32 board (e.g. ESP32 Dev Module) and COM port.
  • Click to the Libraries icon on the left bar of the Arduino IDE.
  • Type ServoESP32 on the search box, then look for the servo library by Jaroslav Paral. Please be aware that both version 1.1.1 and 1.1.0 are affected by bugs. Kindly choose a different version.
  • Click Install button to install servo motor library for ESP32.
ESP32 servo motor library
  • Copy the above code and paste it to Arduino IDE.
  • Compile and upload code to ESP32 board by clicking Upload button on Arduino IDE
How to upload ESP32 code on Arduino IDE
  • See the result: Servo motor rotates slowly about 180° in clockwise and counter-clockwise direction

Line-by-line Code Explanation

The above ESP32 code contains line-by-line explanation. Please read the comments in the code!

How to Control Speed of Servo Motor

See How to Control Speed of Servo Motor

Video Tutorial

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The instruction and source code for the above video available at how to control servo motor via web tutotiral