8.3. Servo And Light

The LED headlights and the camera servo are controlled via PWM signals. To get a jitter-free PWM signal, a library, supporting hardware PWM, is required. For example pigpio.

8.3.1. Install PIGPIO

Raspbian

$ sudo apt-get update && \
sudo apt-get install pigpio python-pigpio python3-pigpio

Ubuntu

$ wget https://github.com/joan2937/pigpio/archive/master.zip && \
unzip master.zip && \
cd pigpio-master && \
make && \
sudo make install

8.3.2. Enable The Daemon

Ubuntu only

You need to create the pigpiod.service file at /etc/systemd/system.

[Unit]
Description=Pigpio daemon

[Service]
Type=forking
PIDFile=pigpio.pid
ExecStart=/usr/local/bin/pigpiod

[Install]
WantedBy=multi-user.target

Raspbian and Ubuntu

Enable the service

$ sudo systemctl enable pigpiod.service

and run the service

$ sudo systemctl start pigpiod.service