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The donkey calibrate command provides an interactive tool for calibrating your car’s servo motors and electronic speed controller (ESC). Proper calibration is essential for accurate steering and throttle control.

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Usage

donkey calibrate [options]

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PWM Controllers

Donkeycar supports multiple PWM controller types:
  • PCA9685: I2C PWM controller (most common, used with Raspberry Pi)
  • Arduino: Arduino board with Firmata firmware
  • Custom PWM pins: Direct GPIO PWM pins (RPI_GPIO, etc.)

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Options

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PCA9685 Options (Default)

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--channel
integer
required
The PCA9685 channel number to calibrate (0-15). Typically:
  • Channel 0: Steering servo
  • Channel 1: Throttle ESC
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--address
hex string
default:"0x40"
The I2C address of the PCA9685 controller. Default is 0x40.
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--bus
integer
The I2C bus number. If not specified, it will be auto-detected.
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--pwmFreq
integer
default:"60"
The PWM frequency in Hz. Default is 60 Hz, which is standard for servos.

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Arduino Options

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--arduino
boolean
default:"false"
Use Arduino pin for PWM output. When enabled, the --channel parameter specifies the Arduino pin number.

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Custom PWM Pin Options

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--pwm-pin
string
Specify a custom PWM pin using pin specifier syntax:
  • RPI_GPIO.BOARD.33: Raspberry Pi GPIO pin 33 (BOARD numbering)
  • PCA9685.1:40.13: PCA9685 at address 0x40, channel 13

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Calibration Process

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Step 1: Identify Your Hardware

Before calibrating, identify:
  • Which channel your servo/ESC is connected to
  • The I2C address of your PCA9685 (if applicable)
  • Your hardware’s safe PWM range (typically 250-450)

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Step 2: Start Calibration

For steering servo on channel 0: 
donkey calibrate --channel 0
For throttle ESC on channel 1: 
donkey calibrate --channel 1

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Step 3: Test PWM Values

The calibration tool will prompt you to enter PWM values: 
Enter a PWM setting to test ('q' for quit) (0-1500):
Start with safe middle values (around 370) and gradually test different values:
  • Lower values (e.g., 250-300): Turn servo left or move backward
  • Middle values (e.g., 370): Center position or stopped
  • Higher values (e.g., 400-450): Turn servo right or move forward

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Step 4: Record Your Values

Note the PWM values for:
  • Steering: Left max, center, right max
  • Throttle: Full reverse, stopped, full forward

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Step 5: Update Configuration

Add the calibrated values to your myconfig.py: 
# Steering
STEERING_LEFT_PWM = 460
STEERING_RIGHT_PWM = 290

# Throttle
THROTTLE_FORWARD_PWM = 400
THROTTLE_STOPPED_PWM = 370
THROTTLE_REVERSE_PWM = 310

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Examples

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Calibrate steering servo (PCA9685 channel 0)

donkey calibrate --channel 0
Example session: 
init PCA9685 on channel 0 address 0x40 bus None
Using PWM freq: 60

Enter a PWM setting to test ('q' for quit) (0-1500): 370
Enter a PWM setting to test ('q' for quit) (0-1500): 300
Enter a PWM setting to test ('q' for quit) (0-1500): 450
Enter a PWM setting to test ('q' for quit) (0-1500): q

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Calibrate throttle ESC (PCA9685 channel 1)

donkey calibrate --channel 1

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Use custom I2C address

donkey calibrate --channel 0 --address 0x41

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Calibrate with specific I2C bus

donkey calibrate --channel 0 --bus 1

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Use custom PWM frequency

donkey calibrate --channel 0 --pwmFreq 50

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Calibrate Arduino pin

donkey calibrate --arduino --channel 9
Example session: 
init Arduino PWM on pin 9
Enter a PWM setting to test ('q' for quit) (0-180): 90
Enter a PWM setting to test ('q' for quit) (0-180): 45
Enter a PWM setting to test ('q' for quit) (0-180): 135
Enter a PWM setting to test ('q' for quit) (0-180): q

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Calibrate custom PWM pin

donkey calibrate --pwm-pin RPI_GPIO.BOARD.33

donkey calibrate --pwm-pin PCA9685.1:40.13

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Safety Tips

Important Safety Considerations:
  1. Remove wheels or elevate car: Always calibrate with wheels off the ground or removed
  2. Start with conservative values: Begin near the center position (370) and make small adjustments
  3. Never force hardware: If a servo buzzes or strains, immediately reduce the PWM value
  4. ESC calibration: Some ESCs require a special calibration sequence (full throttle -> connect power -> zero throttle)
  5. Test incrementally: Make small changes (±10-20 PWM units) to avoid sudden movements

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Troubleshooting

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Servo doesn’t move

  • Verify the channel number is correct
  • Check physical connections to the PCA9685
  • Ensure the PCA9685 has external power connected
  • Try different PWM values (some servos respond to different ranges)

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“No such file or directory” error

  • Ensure I2C is enabled on your Raspberry Pi: sudo raspi-config
  • Install I2C tools: sudo apt-get install i2c-tools
  • Verify PCA9685 is detected: i2cdetect -y 1

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Servo jitters or buzzes

  • You may be at the limit of the servo’s range
  • Reduce the PWM value to a more conservative setting
  • Check that external power supply provides sufficient current

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Arduino not found

  • Verify Arduino has Firmata firmware installed
  • Check USB connection and permissions
  • Install pyFirmata: pip install pyFirmata

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Next Steps

After calibration:
  1. Update your myconfig.py with the calibrated values
  2. Test your car with python manage.py drive
  3. Verify steering and throttle respond correctly
  4. Collect training data by driving manually
  5. Train your first model with donkey train

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