From bd1efeae9498ca1526135e544127d1942b0f6db7 Mon Sep 17 00:00:00 2001
From: "J. Nick Koston" <nick@koston.org>
Date: Wed, 23 Sep 2026 23:20:29 +0100
Subject: [PATCH] [servo] Use register_apply_action for servo.write and
 servo.detach (#19531)

---
 esphome/components/servo/__init__.py | 34 ++++------------------------
 esphome/components/servo/servo.h     | 22 ------------------
 tests/components/servo/common.yaml   |  3 +++
 3 files changed, 7 insertions(+), 52 deletions(-)

diff --git a/esphome/components/servo/__init__.py b/esphome/components/servo/__init__.py
index 666c7dbcdd..74acaa3496 100644
--- a/esphome/components/servo/__init__.py
+++ b/esphome/components/servo/__init__.py
@@ -13,14 +13,10 @@ from esphome.const import (
     CONF_RESTORE,
     CONF_TRANSITION_LENGTH,
 )
-from esphome.core import ID
-from esphome.cpp_generator import MockObj, TemplateArgsType
 from esphome.types import ConfigType
 
 servo_ns = cg.esphome_ns.namespace("servo")
 Servo = servo_ns.class_("Servo", cg.Component)
-ServoWriteAction = servo_ns.class_("ServoWriteAction", automation.Action)
-ServoDetachAction = servo_ns.class_("ServoDetachAction", automation.Action)
 
 CONF_AUTO_DETACH_TIME = "auto_detach_time"
 MULTI_CONF = True
@@ -56,45 +52,23 @@ async def to_code(config: ConfigType) -> None:
     cg.add(var.set_transition_length(config[CONF_TRANSITION_LENGTH]))
 
 
-@automation.register_action(
+automation.register_apply_action(
     "servo.write",
-    ServoWriteAction,
     cv.Schema(
         {
             cv.Required(CONF_ID): cv.use_id(Servo),
             cv.Required(CONF_LEVEL): cv.templatable(cv.possibly_negative_percentage),
         }
     ),
-    synchronous=True,
+    automation.ApplyField(CONF_LEVEL, "write", cg.float_),
 )
-async def servo_write_to_code(
-    config: ConfigType,
-    action_id: ID,
-    template_arg: cg.TemplateArguments,
-    args: TemplateArgsType,
-) -> MockObj:
-    paren = await cg.get_variable(config[CONF_ID])
-    var = cg.new_Pvariable(action_id, template_arg, paren)
-    template_ = await cg.templatable(config[CONF_LEVEL], args, cg.float_)
-    cg.add(var.set_value(template_))
-    return var
 
-
-@automation.register_action(
+automation.register_apply_action(
     "servo.detach",
-    ServoDetachAction,
     maybe_simple_id(
         {
             cv.Required(CONF_ID): cv.use_id(Servo),
         }
     ),
-    synchronous=True,
+    automation.ApplyCall("detach()"),
 )
-async def servo_detach_to_code(
-    config: ConfigType,
-    action_id: ID,
-    template_arg: cg.TemplateArguments,
-    args: TemplateArgsType,
-) -> MockObj:
-    paren = await cg.get_variable(config[CONF_ID])
-    return cg.new_Pvariable(action_id, template_arg, paren)
diff --git a/esphome/components/servo/servo.h b/esphome/components/servo/servo.h
index 156dab6dc1..ce29c783e2 100644
--- a/esphome/components/servo/servo.h
+++ b/esphome/components/servo/servo.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "esphome/core/automation.h"
 #include "esphome/core/component.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/preferences.h"
@@ -51,25 +50,4 @@ class Servo final : public Component {
   };
 };
 
-template<typename... Ts> class ServoWriteAction final : public Action<Ts...> {
- public:
-  ServoWriteAction(Servo *servo) : servo_(servo) {}
-  TEMPLATABLE_VALUE(float, value)
-
-  void play(const Ts &...x) override { this->servo_->write(this->value_.value(x...)); }
-
- protected:
-  Servo *servo_;
-};
-
-template<typename... Ts> class ServoDetachAction final : public Action<Ts...> {
- public:
-  ServoDetachAction(Servo *servo) : servo_(servo) {}
-
-  void play(const Ts &...x) override { this->servo_->detach(); }
-
- protected:
-  Servo *servo_;
-};
-
 }  // namespace esphome::servo
diff --git a/tests/components/servo/common.yaml b/tests/components/servo/common.yaml
index 2cfa370c32..797d05f41f 100644
--- a/tests/components/servo/common.yaml
+++ b/tests/components/servo/common.yaml
@@ -4,6 +4,9 @@ esphome:
       - servo.write:
           id: test_servo
           level: -100.0%
+      - servo.write:
+          id: test_servo
+          level: !lambda return 0.5;
       - servo.detach: test_servo
 
 output: