标题: Arduino程序 16路模块PWM舵机驱动板控制器 机器人 IIC接口 [打印本页]
作者: 曦秋    时间: 2020-10-31 15:54
标题: Arduino程序 16路模块PWM舵机驱动板控制器 机器人 IIC接口

  1. #include <Adafruit_PWMServoDriver.h>
  2. #include <Wire.h>
  3. #if defined(__AVR__)
  4. #define WIRE Wire
  5. #elif defined(CORE_TEENSY) // Teensy boards
  6. #define WIRE Wire
  7. #else // Arduino Due
  8. #define WIRE Wire1
  9. #endif

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

  14. Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(uint8_t addr) {
  15.   _i2caddr = addr;
  16. }

  18. void Adafruit_PWMServoDriver::begin(void) {
  19. WIRE.begin();
  20. reset();
  21. }


  24. void Adafruit_PWMServoDriver::reset(void) {
  25. write8(PCA9685_MODE1, 0x0);
  26. }

  28. void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
  29.   //Serial.print("Attempting to set freq ");
  30.   //Serial.println(freq);
  31.   freq *= 0.9;  // Correct for overshoot in the frequency setting (see issue #11).
  32.   float prescaleval = 25000000;
  33.   prescaleval /= 4096;
  34.   prescaleval /= freq;
  35.   prescaleval -= 1;
  36.   if (ENABLE_DEBUG_OUTPUT) {
  37.     Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
  38.   }
  39.   uint8_t prescale = floor(prescaleval + 0.5);
  40.   if (ENABLE_DEBUG_OUTPUT) {
  41.     Serial.print("Final pre-scale: "); Serial.println(prescale);
  42.   }
  43.   
  44.   uint8_t oldmode = read8(PCA9685_MODE1);
  45.   uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
  46.   write8(PCA9685_MODE1, newmode); // go to sleep
  47.   write8(PCA9685_PRESCALE, prescale); // set the prescaler
  48.   write8(PCA9685_MODE1, oldmode);
  49.   delay(5);
  50.   write8(PCA9685_MODE1, oldmode | 0xa1);  //  This sets the MODE1 register to turn on auto increment.
  51.                                           // This is why the beginTransmission below was not working.
  52.   //  Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
  53. }

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

  58.   WIRE.beginTransmission(_i2caddr);
  59.   WIRE.write(LED0_ON_L+4*num);
  60.   WIRE.write(on);
  61.   WIRE.write(on>>8);
  62.   WIRE.write(off);
  63.   WIRE.write(off>>8);
  64.   WIRE.endTransmission();
  65. }

  67. // Sets pin without having to deal with on/off tick placement and properly handles
  68. // a zero value as completely off.  Optional invert parameter supports inverting
  69. // the pulse for sinking to ground.  Val should be a value from 0 to 4095 inclusive.
  70. void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert)
  71. {
  72.   // Clamp value between 0 and 4095 inclusive.
  73.   val = min(val, 4095);
  74.   if (invert) {
  75.     if (val == 0) {
  76.       // Special value for signal fully on.
  77.       setPWM(num, 4096, 0);
  78.     }
  79.     else if (val == 4095) {
  80.       // Special value for signal fully off.
  81.       setPWM(num, 0, 4096);
  82.     }
  83.     else {
  84.       setPWM(num, 0, 4095-val);
  85.     }
  86.   }
  87.   else {
  88.     if (val == 4095) {
  89.       // Special value for signal fully on.
  90.       setPWM(num, 4096, 0);
  91.     }
  92.     else if (val == 0) {
  93.       // Special value for signal fully off.
  94.       setPWM(num, 0, 4096);
  95.     }
  96.     else {
  97.       setPWM(num, 0, val);
  98.     }
  99.   }
  100. }

  102. uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
  103.   WIRE.beginTransmission(_i2caddr);
  104.   WIRE.write(addr);
  105.   WIRE.endTransmission();

  107.   WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
  108.   return WIRE.read();
  109. }

  111. void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
  112.   WIRE.beginTransmission(_i2caddr);
  113.   WIRE.write(addr);
  114.   WIRE.write(d);
  115.   WIRE.endTransmission();
  116. }
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16路模块 PWM舵机驱动板 控制器 机器人 IIC接口 .zip

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