{"id":6495,"date":"2026-02-02T17:05:02","date_gmt":"2026-02-02T16:05:02","guid":{"rendered":"https:\/\/workboot.fr\/ciela\/?page_id=6495"},"modified":"2026-04-02T08:20:10","modified_gmt":"2026-04-02T07:20:10","slug":"servo-moteur-fs90","status":"publish","type":"page","link":"https:\/\/workboot.fr\/ciela\/servo-moteur-fs90\/","title":{"rendered":"Servo Moteur FS90"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">Un servo moteur , permet de contr\u00f4ler une position en fonction d&rsquo;une consigne , tr\u00e8s pratique en robotique et dans d&rsquo;autres projets.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Servo vient du mot asservissement <\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Caract\u00e8ristiques du FS90<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">const int FS90_MIN = 500;\nconst int FS90_MAX = 2400;<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Le <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">fil rouge<\/mark> est l&rsquo;alimentation en 5V \u00e0 7V max.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Le <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-black-color\">fil marron ou noir<\/mark> , le GND , le 0 , la masse !<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Le <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-orange-color\">fil orange<\/mark> la consigne en PWM du servo-moteur<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">la consigne ici est envoy\u00e9 sur le fil orange c&rsquo;est une  PWM , impulsion de 500 \u00e0 2400 micro seconde<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/02\/servo-parts.jpeg\"><img loading=\"lazy\" decoding=\"async\" width=\"1000\" height=\"479\" src=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/02\/servo-parts.jpeg\" alt=\"\" class=\"wp-image-6502\" srcset=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/02\/servo-parts.jpeg 1000w, https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/02\/servo-parts-300x144.jpeg 300w, https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/02\/servo-parts-768x368.jpeg 768w\" sizes=\"auto, (max-width: 1000px) 100vw, 1000px\" \/><\/a><figcaption class=\"wp-element-caption\">Vision r\u00e9elle d&rsquo;un Servo moteur type FS90<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"559\" src=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne-1024x559.png\" alt=\"\" class=\"wp-image-7532\" srcset=\"https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne-1024x559.png 1024w, https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne-300x164.png 300w, https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne-768x419.png 768w, https:\/\/workboot.fr\/ciela\/wp-content\/uploads\/2026\/04\/Servo_interne.png 1408w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"wp-element-caption\">Vision par Gemini du servo moteur <\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Dur\u00e9es d&rsquo;impulsion en MICROSECONDES (\u00b5s) :<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u00ab\u00a0Le FS90 utilise un circuit int\u00e9gr\u00e9 sp\u00e9cialis\u00e9 et d\u00e9di\u00e9, souvent un NE544 ou un \u00e9quivalent, qui agit comme le cerveau analogique du servo. Ce n&rsquo;est pas un microcontr\u00f4leur programmable, mais une puce c\u00e2bl\u00e9e pour ex\u00e9cuter une seule t\u00e2che : la commande en boucle ferm\u00e9e d&rsquo;un moteur pour atteindre une position d\u00e9finie par un signal PWM.\u00a0\u00bb<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>1 ms (500 \u00b5s)<\/strong>&nbsp;= Position 0\u00b0<\/li>\n\n\n\n<li><strong>1.5 ms (1450 \u00b5s)<\/strong>&nbsp;= Position 90\u00b0<\/li>\n\n\n\n<li><strong>2 ms (2400 \u00b5s)<\/strong>&nbsp;= Position 180\u00b0<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Solution en C , la plus simple<\/h2>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/***************************************************\/\n\/* Code pour ma\u00eetriser un SERVO_MOTEUR FS90        *\/\n\/* en C simple , signal PWM r\u00e9alis\u00e9 dans le loop() *\/\n\/***************************************************\/\n#define signal 10\n#define imp 500+950+950\n\/* 400 &lt;  imp  &lt;2400 *\/\n\/* 500  minimum 500+950 milieu et 500+950+950 (2400) MAX*\/\n\n\n\/* mise en sortie la broche de commande du servo moteur *\/\nvoid setup() \n{\n  pinMode(signal, OUTPUT);\n}\n\n\n\/* boucle de commande du SERVO_Moteur fr\u00e9quence 50Hz *\/\nvoid loop() \n{\n  digitalWrite(signal, HIGH);\n  delayMicroseconds(imp);  \n  digitalWrite(signal, LOW);\n  delayMicroseconds(20000-imp);      \n}<\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">Donner l&rsquo;organigramme et le PL de ce code <\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Expliquer clairement comment fonctionne ce code par rapport au servo moteur<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Relever avec la sonde num\u00e9rique le signal de la broche 10 de l&rsquo;arduino <\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Donner la fr\u00e9quance et le Rc <\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Donner un code donnant un angle de 0<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Tester et relever avec la sonde logique la fr\u00e9quence et le Rc<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Donner un code donnant un angle de moiti\u00e9.<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Tester et relever avec la sonde logique la fr\u00e9quence et le Rc<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Donner un code donnant un angle Maximum<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Tester et relever avec la sonde logique la fr\u00e9quence et le Rc<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">R\u00e9aliser un code \u00ab\u00a0m\u00e9tronome\u00a0\u00bb qui bascule le servo moteur de l&rsquo;angle 0 \u00e0 l&rsquo;angle 180\u00b0 et de 180\u00b0 \u00e0 0 toute les 2 secondes !<\/h2>\n\n\n\n<details class=\"wp-block-details is-layout-flow wp-block-details-is-layout-flow\"><summary>Solution<\/summary>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/***************************************************\/\n\/* Code pour ma\u00eetriser un SERVO_MOTEUR FS90        *\/\n\/* en C simple , signal PWM r\u00e9alis\u00e9 dans le loop() *\/\n\/***************************************************\/\n#define signal 10\n#define imp 500+950+950\n#define imp0 500\n#define imp180 2400\n#define temps 400\n\/* 400 &lt;  imp  &lt;2400 *\/\n\/* 500  minimum 500+950 milieu et 500+950+950 (2400) MAX*\/\nint cpt;\n\n\/* mise en sortie la broche de commande du servo moteur *\/\nvoid setup() \n{\n  pinMode(signal, OUTPUT);\n  cpt=0;\n}\n\n\n\/* boucle de commande du SERVO_Moteur fr\u00e9quence 50Hz *\/\nvoid loop() \n{\nif (cpt&lt;temps)\n{  \n  digitalWrite(signal, HIGH);\n  delayMicroseconds(imp0);  \n  digitalWrite(signal, LOW);\n  delayMicroseconds(20000-imp0);\n}\nelse\n{  \n  digitalWrite(signal, HIGH);\n  delayMicroseconds(imp180);  \n  digitalWrite(signal, LOW);\n  delayMicroseconds(20000-imp180);\n}\ncpt++;\nif (cpt>(2*temps))\n  {\n    cpt=0;\n  }\n      \n}<\/pre>\n<\/details>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">C++ et objet <\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">Code avec un Timer (Circuit int\u00e9gr\u00e9 dans le Microcontr\u00f4leur TWI sur l&rsquo;atmega328p) et  nous allons d\u00e9couvrir l&rsquo;objet en C++<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Et la on va utiliser le C++ (car oui le compilateur pour arduino est g++), car l&rsquo;objet Servo est introduit !<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Dans la librairie <a href=\"https:\/\/docs.arduino.cc\/libraries\/servo\/\">Servo.h<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Sachant que cet objet n&rsquo;est utilisable que tu les broches poss\u00e9dant un TILDA ~  car si on regarde la documentation de l&rsquo;ATMEGA328P seul ces broches sont connectable sur un Timer capable de g\u00e9rer les Temps sans prendre de ressource au microprocesseur du microcontr\u00f4leur.<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">broche \u00e0 utiliser pour la PWM<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code>~3  ~5  ~6  ~9  ~10  ~11<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">L&rsquo;objet Servo() et oui la on va faire du C++ et utiliser un objet et d\u00e9couvrir ce qu&rsquo;est un objet !<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Fr\u00e9quence de 50Hz par et on r\u00e8gle la valeur min et max de l&rsquo;impulsion \u00e0 1, le premier param\u00e8tre est la PIN utilis\u00e9e.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include &lt;Servo.h>\n\nServo monServo;  \/* Cr\u00e9er un objet servo , instanciation de l'objet , appel du constructeur *\/\n\nvoid setup() \n{\n  monServo.attach(9, 500, 2400);  \/* initialisation de l'objet *\/\n  \/\/ Positionner \u00e0 0\u00b0 (500\u00b5s)\n  monServo.writeMicroseconds(500);\n  \n  delay(1000);  \/* Attendre 1 seconde pour la stabilisation *\/\n}\n\nvoid loop() \n{\n  \/* Le servo reste \u00e0 0\u00b0\n     et le processeur ne fait rien , il est tout pour vous dans le loop()\n     Pas besoin de r\u00e9p\u00e9ter l'instruction\n     le signal PWM est g\u00e9rer automatiquement par l'objet monServo qui a programm\u00e9 un circuit d\u00e9di\u00e9 Timer (TWI)\n   *\/\n}<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">Maintenant on va utiliser la m\u00e9thode write qui permet de transmettre l&rsquo;angle de consigne  du servo-moteur<\/h2>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include &lt;Servo.h>\n\nServo monServo;  \/* Cr\u00e9er un objet servo , instanciation de l'objet , appel du constructeur *\/\n                              \/* Le constructeur par d\u00e9faut est appel\u00e9 automatiquement *\/\nvoid setup() \n{\n  monServo.attach(9, 500, 2400);  \/* initialisation de l'objet  le premier param\u00e8tre est obligatoire (la broche) *\/\n  \/\/ Positionner \u00e0 0\u00b0 (500\u00b5s)\n  monServo.write(0);\n  \n  delay(1000);  \/* Attendre 1 seconde pour la stabilisation et retour \u00e0 zero*\/\n}\n\nvoid loop() \n{\nint angle;\n\nfor (angle=0;angle&lt;180;angle++)\n    {\n    monServo.write(angle);\n    delay(10);\n    }\ndelay(1000);\nmonServo.write(0);\ndelay(1000);\n}<\/pre>\n\n\n\n<h5 class=\"wp-block-heading\">Que fais ce code ?<\/h5>\n\n\n\n<h3 class=\"wp-block-heading\">Donner un code utilisant la librairie servo.h , qui r\u00e9alise le m\u00e9tronome de 2 secondes.  comme dans l&rsquo;exemple en C simple !<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Donner les avantages <\/p>\n","protected":false},"excerpt":{"rendered":"<p>Un servo moteur , permet de contr\u00f4ler une position en fonction d&rsquo;une consigne , tr\u00e8s pratique en robotique et dans d&rsquo;autres projets. Servo vient du mot asservissement Caract\u00e8ristiques du FS90 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_crdt_document":"","_uag_custom_page_level_css":"","footnotes":""},"class_list":["post-6495","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Servo Moteur FS90 - workboot<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/workboot.fr\/ciela\/servo-moteur-fs90\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Servo Moteur FS90 - workboot\" \/>\n<meta property=\"og:description\" content=\"Un servo moteur , permet de contr\u00f4ler une position en fonction d&rsquo;une consigne , tr\u00e8s pratique en robotique et dans d&rsquo;autres projets. 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Servo vient du mot asservissement Caract\u00e8ristiques du FS90 [&hellip;]","_links":{"self":[{"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/pages\/6495","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/comments?post=6495"}],"version-history":[{"count":42,"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/pages\/6495\/revisions"}],"predecessor-version":[{"id":7534,"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/pages\/6495\/revisions\/7534"}],"wp:attachment":[{"href":"https:\/\/workboot.fr\/ciela\/wp-json\/wp\/v2\/media?parent=6495"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}