84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/***************************************************
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This is an example for our Adafruit 16-channel PWM & Servo driver
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Servo test - this will drive 8 servos, one after the other on the
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first 8 pins of the PCA9685
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Pick one up today in the adafruit shop!
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------> http://www.adafruit.com/products/815
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These drivers use I2C to communicate, 2 pins are required to
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interface.
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Adafruit invests time and resources providing this open source code,
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please support Adafruit and open-source hardware by purchasing
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products from Adafruit!
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Written by Limor Fried/Ladyada for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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****************************************************/
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#include <Wire.h>
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#include <Adafruit_PWMServoDriver.h>
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// called this way, it uses the default address 0x40
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Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
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// you can also call it with a different address you want
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//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
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// you can also call it with a different address and I2C interface
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//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(&Wire, 0x40);
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// Depending on your servo make, the pulse width min and max may vary, you
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// want these to be as small/large as possible without hitting the hard stop
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// for max range. You'll have to tweak them as necessary to match the servos you
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// have!
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#define SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
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#define SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)
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// our servo # counter
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uint8_t servonum = 0;
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void setup() {
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Serial.begin(9600);
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Serial.println("8 channel Servo test!");
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pwm.begin();
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pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
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delay(10);
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}
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// you can use this function if you'd like to set the pulse length in seconds
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// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
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void setServoPulse(uint8_t n, double pulse) {
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double pulselength;
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pulselength = 1000000; // 1,000,000 us per second
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pulselength /= 60; // 60 Hz
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Serial.print(pulselength); Serial.println(" us per period");
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pulselength /= 4096; // 12 bits of resolution
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Serial.print(pulselength); Serial.println(" us per bit");
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pulse *= 1000000; // convert to us
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pulse /= pulselength;
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Serial.println(pulse);
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pwm.setPWM(n, 0, pulse);
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}
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void loop() {
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// Drive each servo one at a time
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Serial.println(servonum);
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for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
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pwm.setPWM(servonum, 0, pulselen);
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}
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delay(500);
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for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
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pwm.setPWM(servonum, 0, pulselen);
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}
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delay(500);
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servonum ++;
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if (servonum > 7) servonum = 0;
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}
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