Is there a way to make the servo go in reverse?
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Yes. For a Continuous Servo set the speed percentage value to a negative number, which will reverse the motor. Standard servos rotate from 0 degrees to 180 degrees, so if you think of 90 degrees as “forward”, set the angle to less than 90 to move counterclockwise, and greater than 90 for clockwise.
set speed % to negative in continuous servo & less than 90 in std servo