PCA9685引脚图：
PCA9685 16路舵机驱动原理图：
PCA9685管脚功能定义：
Arduino源程序如下:
- /***************************************************
- This is a library for our Adafruit 16-channel PWM & Servo driver
- Pick one up today in the adafruit shop!
- These displays use I2C to communicate, 2 pins are required to
- interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
- Adafruit invests time and resources providing this open source code,
- please support Adafruit and open-source hardware by purchasing
- products from Adafruit!
- Written by Limor Fried/Ladyada for Adafruit Industries.
- BSD license, all text above must be included in any redistribution
- ****************************************************/
- #include <Adafruit_PWMServoDriver.h>
- #include <Wire.h>
- #if defined(__AVR__)
- #define WIRE Wire
- #elif defined(CORE_TEENSY) // Teensy boards
- #define WIRE Wire
- #else // Arduino Due
- #define WIRE Wire1
- #endif
- // Set to true to print some debug messages, or false to disable them.
- #define ENABLE_DEBUG_OUTPUT false
- Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(uint8_t addr) {
- _i2caddr = addr;
- }
- void Adafruit_PWMServoDriver::begin(void) {
- WIRE.begin();
- reset();
- }
- void Adafruit_PWMServoDriver::reset(void) {
- write8(PCA9685_MODE1, 0x0);
- }
- void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
- //Serial.print("Attempting to set freq ");
- //Serial.println(freq);
- freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11).
- float prescaleval = 25000000;
- prescaleval /= 4096;
- prescaleval /= freq;
- prescaleval -= 1;
- if (ENABLE_DEBUG_OUTPUT) {
- Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
- }
- uint8_t prescale = floor(prescaleval + 0.5);
- if (ENABLE_DEBUG_OUTPUT) {
- Serial.print("Final pre-scale: "); Serial.println(prescale);
- }
-
- uint8_t oldmode = read8(PCA9685_MODE1);
- uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
- write8(PCA9685_MODE1, newmode); // go to sleep
- write8(PCA9685_PRESCALE, prescale); // set the prescaler
- write8(PCA9685_MODE1, oldmode);
- delay(5);
- write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
- // This is why the beginTransmission below was not working.
- // Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
- }
- void Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
- //Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
- WIRE.beginTransmission(_i2caddr);
- WIRE.write(LED0_ON_L+4*num);
- WIRE.write(on);
- WIRE.write(on>>8);
- WIRE.write(off);
- WIRE.write(off>>8);
- WIRE.endTransmission();
- }
- // Sets pin without having to deal with on/off tick placement and properly handles
- // a zero value as completely off. Optional invert parameter supports inverting
- // the pulse for sinking to ground. Val should be a value from 0 to 4095 inclusive.
- void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert)
- {
- // Clamp value between 0 and 4095 inclusive.
- val = min(val, 4095);
- if (invert) {
- if (val == 0) {
- // Special value for signal fully on.
- setPWM(num, 4096, 0);
- }
- else if (val == 4095) {
- // Special value for signal fully off.
- setPWM(num, 0, 4096);
- }
- else {
- setPWM(num, 0, 4095-val);
- }
- }
- else {
- if (val == 4095) {
- // Special value for signal fully on.
- setPWM(num, 4096, 0);
- }
- else if (val == 0) {
- // Special value for signal fully off.
- setPWM(num, 0, 4096);
- }
- else {
- setPWM(num, 0, val);
- }
- }
- }
- ……………………
- …………限于本文篇幅 余下代码请从51黑下载附件…………
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16路舵机驱动.rar
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