Hi I need to know if I can use a Servo Motor to control and turn a turn a door to an open and closed position while withstanding 20 lb-in of force. Is there a code I could write in arduino that allows the Servo to turn to a certain position and hold for a desired amount of time?
Sure there is. And yes, there is code, too.
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You will probably find what you want if you search this forum.
Many hobby servos will quickly burn out if required to maintain 20 lb-in torque (or 23 kg-cm) for any length of time.
To avoid that, look for heavy duty, metal gear, ball bearing servos rated for about twice that torque (at least 50 kg-cm).
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