Arduino控制16路PWM舵机驱动板（PCA9685）

 1 #include <Wire.h>
 2 #include <Adafruit_PWMServoDriver.h>
 3 
 4 //默认地址 0x40
 5 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
 6 
 7 //9g舵机 高电平宽度在20ms内通过控制脉冲宽度范围0.5ms~2.5ms
 8 #define SERVOMIN  102 // this is the ‘minimum‘ pulse length count (out of 4096) 0度
 9 #define SERVOMAX  512 // this is the ‘maximum‘ pulse length count (out of 4096) 180度
10 
11 void setup() {
12   Serial.begin(9600);
13   Serial.println("16 channel Servo test!");
14   pwm.begin();
15   pwm.setPWMFreq(50);  //频率 50Hz，最高60Hz
16 }
17 
18 void setServoPulse(uint8_t n, double pulse) {
19   double pulselength;
20   pulselength = 1000000;   // 1,000,000 us per second
21   pulselength /= 50;   // 50 Hz
22   Serial.print(pulselength); Serial.println(" us per period"); 
23   pulselength /= 4096;  // 12 bits of resolution
24   Serial.print(pulselength); Serial.println(" us per bit"); 
25   pulse *= 1000;
26   pulse /= pulselength;
27   Serial.println(pulse);
28   pwm.setPWM(n, 0, pulse);
29 }
30 //设置9g舵机角度
31 void servo_9g_write(uint8_t n,int Angle)
32 {
33   double pulse = Angle;
34   pulse = pulse/90 + 0.5;
35   setServoPulse(n,pulse);//0到180度映射为0.5到2.5ms
36 }
37 void loop() 
38 {
39   unsigned char serialRead;
40   if (Serial.available() > 0)
41   {
42     serialRead = Serial.read();
43     servo_9g_write(0,serialRead);//控制第一路度数
44   }
45 }