{"id":859,"date":"2026-06-12T15:53:19","date_gmt":"2026-06-12T07:53:19","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/servo-mg996r-ugv-steering-pwm-arduino-control-farsi\/"},"modified":"2026-06-12T20:37:26","modified_gmt":"2026-06-12T12:37:26","slug":"servo-mg996r-ugv-steering-pwm-arduino-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/servo-mg996r-ugv-steering-pwm-arduino-control-farsi\/","title":{"rendered":"\u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 MG996R \u2014 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0641\u0631\u0645\u0627\u0646 UGV \u0628\u0627 PWM \u0648 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"<div class='hero-image-container' style='margin-bottom:28px;border-radius:14px;overflow:hidden;box-shadow:0 4px 18px rgba(0,0,0,0.08)'>\n<img src='' alt='\u0633\u0631\u0648 MG996R \u0641\u0631\u0645\u0627\u0646 UGV \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 PWM' style='width:100%;height:auto;display:block' loading='eager'\/>\n<\/div>\n<div class='beginner-intro' style='background:#f0f7ff;border-right:4px solid #2e5fb6;padding:16px 20px;border-radius:10px;margin-bottom:22px'>\n<h2 style='margin-top:0'>\u0633\u0631\u0648 MG996R \u2014 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631\u06cc\u0646 \u0633\u0631\u0648 \u0642\u0648\u06cc \u0628\u0627\u0632\u0627\u0631<\/h2>\n<p><strong>MG996R<\/strong> \u06cc\u06a9 \u0633\u0631\u0648 \u0628\u0627 \u06af\u0634\u062a\u0627\u0648\u0631 \u06f9.\u06f4\u2013\u06f1\u06f1kg.cm\u060c \u0632\u0627\u0648\u06cc\u0647 \u06f1\u06f8\u06f0\u00b0 \u0648 \u0641\u0631\u06cc\u0645 \u0641\u0644\u0632\u06cc \u0627\u0633\u062a. \u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646 UGV \u062a\u0627 \u06f5kg \u0639\u0627\u0644\u06cc \u0627\u0633\u062a. \u0628\u0627 \u06cc\u06a9 \u067e\u0627\u0644\u0633 PWM (\u06f1\u2013\u06f2ms) \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 <code>Servo.h<\/code> \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0622\u0646 \u0631\u0627 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<p>\u0645\u0634\u06a9\u0644 \u0631\u0627\u06cc\u062c: <strong>Jitter<\/strong> (\u0644\u0631\u0632\u0634 \u062e\u0641\u06cc\u0641 \u0633\u0631\u0648 \u062d\u062a\u06cc \u062f\u0631 \u062d\u0627\u0644\u062a \u062b\u0627\u0628\u062a) \u06a9\u0647 \u0627\u0632 \u0646\u0648\u06cc\u0632 \u062f\u0631 \u062e\u0637 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0627\u0633\u062a. \u0628\u0627 \u06cc\u06a9 \u0645\u0642\u0627\u0648\u0645\u062a \u06f1k\u03a9 \u0633\u0631\u06cc \u0631\u0648\u06cc \u062e\u0637 \u0633\u06cc\u06af\u0646\u0627\u0644 + \u062e\u0627\u0632\u0646 \u06f1\u06f0\u06f0nF \u0628\u0647 GND \u0627\u06cc\u0646 \u0645\u0634\u06a9\u0644 \u062d\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<\/div>\n<div style='background:#fff8e1;border:1px solid #ffd54f;border-radius:10px;padding:16px;margin-bottom:22px'>\n<h3 style='margin-top:0'>&#x1f6e0;&#xfe0f; \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n<table style='width:100%;border-collapse:collapse'>\n<tr>\n<td style='padding:6px;font-weight:bold;width:40%'>\u0645\u0634\u062e\u0635\u0627\u062a<\/td>\n<td style='padding:6px'>\u06f5V\u060c \u06f2.\u06f5A peak\u060c \u06f9.\u06f4kg.cm\u060c \u06f1\u06f8\u06f0\u00b0<\/td>\n<\/tr>\n<tr style='background:#fffde7'>\n<td style='padding:6px;font-weight:bold'>\u0642\u06cc\u0645\u062a<\/td>\n<td style='padding:6px'>~\u06f1\u06f5\u06f0K \u062a\u0648\u0645\u0627\u0646<\/td>\n<\/tr>\n<tr>\n<td style='padding:6px;font-weight:bold'>\u0646\u06a9\u062a\u0647 \u0628\u0631\u0642<\/td>\n<td style='padding:6px'>\u0627\u0632 USB \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062a\u063a\u0630\u06cc\u0647 \u0646\u06a9\u0646 \u2014 \u062e\u0627\u0632\u0646 \u06f4\u06f7\u06f0\u03bcF \u0631\u0648\u06cc 5V<\/td>\n<\/tr>\n<\/table>\n<\/div>\n<h2>\u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0646\u0642\u0637\u0647 \u0635\u0641\u0631 \u0633\u0631\u0648<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:14px;border-radius:8px;font-size:12px;margin-bottom:18px'><code>#include &lt;Servo.h&gt;\nServo steer;\n\nvoid setup(){\n  steer.attach(9);\n  Serial.begin(9600);\n  Serial.println(\"Enter angle (0-180):\");\n}\n\nvoid loop(){\n  if(Serial.available()){\n    int angle = Serial.parseInt();\n    steer.write(angle);\n    Serial.print(\"Set to: \"); Serial.println(angle);\n    \/\/ \u0648\u0642\u062a\u06cc \u0641\u0631\u0645\u0627\u0646 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0628\u0648\u062f\u060c \u0627\u06cc\u0646 \u0639\u062f\u062f = CENTER \u0634\u0645\u0627\n  }\n}<\/code><\/pre>\n<h2>\u0641\u06cc\u0644\u062a\u0631 Jitter + \u06a9\u0646\u062a\u0631\u0644 \u0646\u0631\u0645<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:14px;border-radius:8px;font-size:12px;margin-bottom:18px'><code>#include &lt;Servo.h&gt;\nServo steer;\n\nconst int CENTER = 92;  \/\/ \u0639\u062f\u062f \u06a9\u0627\u0644\u06cc\u0628\u0631\u0647\u200c\u0634\u062f\u0647 \u0634\u0645\u0627\nfloat smoothAngle = CENTER;\n\nvoid setSteer(int targetAngle, float smoothFactor=0.15){\n  \/\/ EWMA filter \u2014 \u062d\u0631\u06a9\u062a \u0646\u0631\u0645 \u0648 \u0628\u062f\u0648\u0646 jitter\n  smoothAngle = smoothFactor*targetAngle + (1-smoothFactor)*smoothAngle;\n  steer.write((int)smoothAngle);\n}\n\nvoid setup(){\n  steer.attach(9, 500, 2500);  \/\/ \u0645\u062d\u062f\u0648\u062f\u0647 \u062f\u0642\u06cc\u0642 microseconds\n  steer.write(CENTER);\n}\n\n\/\/ \u0645\u062b\u0627\u0644 \u0627\u0633\u062a\u0641\u0627\u062f\u0647:\n\/\/ \u0647\u0631 \u06f2\u06f0ms \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0631\u0627 \u0628\u0627 \u0645\u0642\u062f\u0627\u0631 \u062c\u062f\u06cc\u062f \u0635\u062f\u0627 \u0628\u0632\u0646:\n\/\/ setSteer(CENTER + steeringCommand);<\/code><\/pre>\n<h2>\u0646\u06af\u0627\u0634\u062a \u062f\u0633\u062a\u0648\u0631 LoRa \u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0633\u0631\u0648<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:14px;border-radius:8px;font-size:12px;margin-bottom:18px'><code>\/\/ rcSteering: -100 \u062a\u0627 +100 \u0627\u0632 LoRa\n\/\/ CENTER \u00b135 \u062f\u0631\u062c\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0641\u0631\u0645\u0627\u0646\nvoid applySteer(int rcSteering){\n  int angle = CENTER + map(rcSteering, -100, 100, -35, 35);\n  angle = constrain(angle, CENTER-35, CENTER+35);\n  setSteer(angle);\n}<\/code><\/pre>\n<div style='display:grid;grid-template-columns:repeat(auto-fit,minmax(300px,1fr));gap:18px;margin:20px 0'>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/J8atdmEqZsc' title='MG996R Servo Arduino Tutorial Complete' frameborder='0' allowfullscreen><\/iframe><br \/>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/W7cV9_W12sM' title='Servo Steering RC Car Arduino Control' frameborder='0' allowfullscreen><\/iframe>\n<\/div>\n<ul>\n<li><a href='https:\/\/lastminuteengineers.com\/servo-motor-arduino-tutorial\/' target='_blank'>Last Minute Engineers: \u0622\u0645\u0648\u0632\u0634 \u0633\u0631\u0648 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/a><\/li>\n<li><a href='https:\/\/www.aparat.com\/result\/%D8%B3%D8%B1%D9%88+%D9%85%D9%88%D8%AA%D9%88%D8%B1+%D8%A2%D8%B1%D8%AF%D9%88%DB%8C%D9%86%D9%88' target='_blank'>\u0622\u067e\u0627\u0631\u0627\u062a: \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/a><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u0622\u0645\u0648\u0632\u0634 \u06a9\u0627\u0645\u0644 \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 MG996R \u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646 UGV: \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0646\u0642\u0637\u0647 \u0645\u0631\u06a9\u0632\u060c \u0646\u06af\u0627\u0634\u062a \u0632\u0627\u0648\u06cc\u0647 \u0628\u0647 PWM\u060c \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u0644\u0631\u0632\u0634 (jitter) \u0628\u0627 \u0641\u06cc\u0644\u062a\u0631\u060c \u0627\u062a\u0635\u0627\u0644 \u0628\u0647 \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645 Ackermann \u0648 \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648.<\/p>\n","protected":false},"author":1,"featured_media":893,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"pagelayer_contact_templates":[],"_pagelayer_content":"","footnotes":""},"categories":[19,16],"tags":[566,657,654,270,48,21,655,656,68],"class_list":["post-859","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tutorials-2","category-ugv","tag-ackermann","tag-jitter","tag-mg996r","tag-pwm","tag-ugv","tag-arduino","tag-655","tag-656","tag-68"],"_links":{"self":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/859","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/comments?post=859"}],"version-history":[{"count":1,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/859\/revisions"}],"predecessor-version":[{"id":894,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/859\/revisions\/894"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media\/893"}],"wp:attachment":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media?parent=859"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/categories?post=859"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/tags?post=859"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}