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PCA9685 PWM舵机驱动板16路模块 IIC接口含源码与资料

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ID:292497 发表于 2018-3-16 09:52 | 显示全部楼层 |阅读模式
16路模块 PWM舵机驱动板 控制器 机器人 IIC接口 使用说明书
0.jpg

AdafruitPWMServoDriverLibrary单片机源程序如下:
  1. /***************************************************
  2.   This is a library for our Adafruit 16-channel PWM & Servo driver

  4.   Pick one up today in the adafruit shop!

  6.   These displays use I2C to communicate, 2 pins are required to  
  7.   interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4

  9.   Adafruit invests time and resources providing this open source code,
  10.   please support Adafruit and open-source hardware by purchasing
  11.   products from Adafruit!

  13.   Written by Limor Fried/Ladyada for Adafruit Industries.  
  14.   BSD license, all text above must be included in any redistribution
  15. ****************************************************/

  17. #include <Adafruit_PWMServoDriver.h>
  18. #include <Wire.h>
  19. #if defined(__AVR__)
  20. #define WIRE Wire
  21. #elif defined(CORE_TEENSY) // Teensy boards
  22. #define WIRE Wire
  23. #else // Arduino Due
  24. #define WIRE Wire1
  25. #endif

  27. // Set to true to print some debug messages, or false to disable them.
  28. #define ENABLE_DEBUG_OUTPUT true

  30. Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(uint8_t addr) {
  31.   _i2caddr = addr;
  32. }

  34. void Adafruit_PWMServoDriver::begin(void) {
  35. WIRE.begin();
  36. reset();
  37. }


  40. void Adafruit_PWMServoDriver::reset(void) {
  41. write8(PCA9685_MODE1, 0x0);
  42. }

  44. void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
  45.   //Serial.print("Attempting to set freq ");
  46.   //Serial.println(freq);
  47.   freq *= 0.9;  // Correct for overshoot in the frequency setting (see issue #11).
  48.   float prescaleval = 25000000;
  49.   prescaleval /= 4096;
  50.   prescaleval /= freq;
  51.   prescaleval -= 1;
  52.   if (ENABLE_DEBUG_OUTPUT) {
  53.     Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
  54.   }
  55.   uint8_t prescale = floor(prescaleval + 0.5);
  56.   if (ENABLE_DEBUG_OUTPUT) {
  57.     Serial.print("Final pre-scale: "); Serial.println(prescale);
  58.   }
  59.   
  60.   uint8_t oldmode = read8(PCA9685_MODE1);
  61.   uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
  62.   write8(PCA9685_MODE1, newmode); // go to sleep
  63.   write8(PCA9685_PRESCALE, prescale); // set the prescaler
  64.   write8(PCA9685_MODE1, oldmode);
  65.   delay(5);
  66.   write8(PCA9685_MODE1, oldmode | 0xa1);  //  This sets the MODE1 register to turn on auto increment.
  67.                                           // This is why the beginTransmission below was not working.
  68.   //  Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
  69. }

  71. void Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
  72.   //Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);

  74.   WIRE.beginTransmission(_i2caddr);
  75.   WIRE.write(LED0_ON_L+4*num);
  76.   WIRE.write(on);
  77.   WIRE.write(on>>8);
  78.   WIRE.write(off);
  79.   WIRE.write(off>>8);
  80.   WIRE.endTransmission();
  81. }

  83. // Sets pin without having to deal with on/off tick placement and properly handles
  84. // a zero value as completely off.  Optional invert parameter supports inverting
  85. // the pulse for sinking to ground.  Val should be a value from 0 to 4095 inclusive.
  86. void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert)
  87. {
  88.   // Clamp value between 0 and 4095 inclusive.
  89.   val = min(val, 4095);
  90.   if (invert) {
  91.     if (val == 0) {
  92.       // Special value for signal fully on.
  93.       setPWM(num, 4096, 0);
  94.     }
  95.     else if (val == 4095) {
  96.       // Special value for signal fully off.
  97.       setPWM(num, 0, 4096);
  98.     }
  99.     else {
  100.       setPWM(num, 0, 4095-val);
  101.     }
  102.   }
  103.   else {
  104.     if (val == 4095) {
  105.       // Special value for signal fully on.
  106.       setPWM(num, 4096, 0);
  107.     }
  108.     else if (val == 0) {
  109.       // Special value for signal fully off.
  110.       setPWM(num, 0, 4096);
  111.     }
  112.     else {
  113.       setPWM(num, 0, val);
  114.     }
  115.   }
  116. }

  118. uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
  119.   WIRE.beginTransmission(_i2caddr);
  120.   WIRE.write(addr);
  121.   WIRE.endTransmission();

  123.   WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
  124.   return WIRE.read();
  125. }

  127. void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
  128.   WIRE.beginTransmission(_i2caddr);
  129.   WIRE.write(addr);
  130.   WIRE.write(d);
  131.   WIRE.endTransmission();
  132. }
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所有资料51hei提供下载:
16路模块 PWM舵机驱动板 控制器 机器人 IIC接口 .zip (1.82 MB, 下载次数: 73)
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ID:516946 发表于 2020-9-2 10:03 | 显示全部楼层
你好我想问下你这个程序实际上可以使用吗
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