I have a raspberry pi 4 B and I want to control servo motor. I am using NetBeans IDE and Java programming language with pi4j library for raspberry. Also I have a servo motor that can rotate for 300 degree with Pulse Width Range 500μS ~ 2500μS. I have a class so I can control it by setting values in range 5-25 into SetAngle method. It wokrs fine, but I want to set floating point values to pwm, because pwm value and servo angle ratio is 1:15 so for every one on pwm I get 15 degress on servo motor. It is too big ration, that because I to be able to set floating point values to PWM. I read somewhere about pigpio library but didn't see any exmaples for it on Java. So the question itself - Could I somehow set floating vlaues to PWM using pi4j library or set PWM not in ms but in μs?

import com.pi4j.io.gpio.GpioController;
import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.GpioPinPwmOutput;
import com.pi4j.io.gpio.Pin;
import com.pi4j.io.gpio.PinState;
import com.pi4j.io.gpio.RaspiPin;
 * @author abdra
public class HCStandartServo 
    private GpioPinPwmOutput pwm;
    public HCStandartServo(Pin p)
        GpioController gpio = GpioFactory.getInstance();
        pwm = gpio.provisionSoftPwmOutputPin(p);
    public void SetAngle(float angle)
  • Why don't you just read the documentation for setPwm() ? I don't understand what you want to know.
    – joan
    Jun 7, 2021 at 9:25
  • I have checked it and there is only setPwm(int value). And I don't know what should I do then Jun 7, 2021 at 9:36
  • I would look at the implementation of SetPwm() and create a copy called mySetPwm(). I would change that to take a float value and make the needed changes within mySetPwm(). This has little to do with the Pi.
    – joan
    Jun 7, 2021 at 10:35
  • I still do not understand how to do this, when this method is inside GpioPinPwmOutput class and I can't see the code of the method Jun 7, 2021 at 12:53

1 Answer 1


After several days of unsuccessful attempts, I still found a great solution to my problem. This solution is the repository: https://github.com/sarfata/pi-blaster. I just installed this on my raspberry pi and wrote a simple program to run my servo motors. At the very beginning of my program, the code is called that launches the pi-blaster via command line:

String tmp;
String s = new String();
Process p;

try {
    p = Runtime.getRuntime().exec("sudo /home/pi/pi-blaster/pi-blaster");
    BufferedReader br = new BufferedReader(new InputStreamReader(p.getInputStream()));
    while ((tmp = br.readLine()) != null)
        System.out.println("[LINE]: " + tmp);
        s += tmp + "\n";
    System.out.println ("[EXIT]: " + p.exitValue());
} catch (Exception e) {}

After this code, I can safely use pinouts of the board to control the servo motors. Like this:

try (PrintWriter out = new PrintWriter(new FileOutputStream("/dev/pi-blaster"), true))

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