Catch is a claw gripper powered by an SG92R servo. This servo uses PWM signals to drive the rotation of the gripper gears, controlling the gripping and releasing operations. Structurally, it features a design compatible with LEGO 8 mm round holes. You can integrate it with other LEGO components to build creative control structures such as robotic arms and gripper vehicles.
Main Control Resource | Parameter |
---|---|
Servo Model | SG92R |
Drive Signal | PWM: Frequency 50Hz, 0°-45° (pulse: 0.5ms-1ms) |
Operating Frequency | 50Hz |
Gripper Opening Angle | 90° |
Input Voltage Range | 4.2-6V |
Dead Band | 10us |
Output Torque | 2.5kg/cm at 4.8V |
Output Speed | 0.1sec/60° at 4.8V |
Operating Temperature | 0 ~ 55°C |
Net Weight | 21.5g |
Gross Weight | 50g |
Product Dimensions (Gripper Open) | 72 x 56 x 37mm |
Package Dimensions | 147 x 90 x 40mm |
Housing Material | Plastic (PC) |
When connecting the Catch Unit to PortB, the pin mapping is as follows
M5Core (PORT B) | G26 | 5V | GND |
---|---|---|---|
Catch Unit | SIGNAL | 5V | GND |
/*
Description: Control Catch Unit through PWM.
*/
#include <M5Stack.h>
// Set control pin
const int servoPin = 26;
// Set frequency
int freq = 50;
// Set PWM channel
int ledChannel = 0;
// Set pulse resolution
int resolution = 10;
void setup() {
// put your setup code here, to run once:
M5.begin();
M5.Power.begin();
M5.Lcd.setCursor(100, 50, 4);
M5.Lcd.println("Catch Unit");
M5.Lcd.setCursor(40, 120, 4);
ledcSetup(ledChannel, freq, resolution);
ledcAttachPin(servoPin, ledChannel);
}
void loop() {
// High level 0.5ms is angle 0°
// duty = 0.5/20ms = 0.025, 0.025 x 1023≈25
ledcWrite(ledChannel, 25);
delay(2000);
// High level 1ms is angle 45°
// duty = 1/20ms = 0.05, 0.05 x 1023≈50
ledcWrite(ledChannel, 50);
delay(2000);
}