Paolo Sanna
/
PCA9685_Hello_World
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Revision 1:9fd2d2f5184e, committed 2015-07-24
- Comitter:
- dreamworker
- Date:
- Fri Jul 24 09:04:32 2015 +0000
- Parent:
- 0:305237ecbbe5
- Commit message:
- Pre-scale factor corrected
Changed in this revision
| PCA9685PWM.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PCA9685PWM.lib Wed Jul 22 13:23:02 2015 +0000 +++ b/PCA9685PWM.lib Fri Jul 24 09:04:32 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/dreamworker/code/PCA9685PWM/#c7f4744deec3 +http://mbed.org/users/dreamworker/code/PCA9685PWM/#7f3c3ac6b20b
--- a/main.cpp Wed Jul 22 13:23:02 2015 +0000
+++ b/main.cpp Fri Jul 24 09:04:32 2015 +0000
@@ -1,5 +1,7 @@
/*PCA9685 library example code
- *test library performed with two servomotor, attached in channel 0 and 1, that rotate to the right and to the left
+ *test library performed with two servomotors, attached in channel 0 and 1, that rotate to the right and to the left
+ *servo in chanel 0: Tower Pro SG90
+ *servo in chanel 1:Goteck GS9025 MG
*/
#include"PCA9685.h"
#include"mbed.h"
@@ -9,40 +11,34 @@
PCA9685 pwm(D14,D15);
void setServoPulse(uint8_t n, float pulse) {
- float pulselength = 10000; // 10,000 units per seconds
- pulse = 4094 * pulse / pulselength;
pwm.setPWM(n, 0, pulse);
}
void initServoDriver() {
pwm.begin();
- pwm.setPrescale(64); //This value is decided for 10ms interval.
- pwm.frequencyI2C(400000); //400kHz
+ pwm.setPrescale(121); // set 20ms for generic servos
+ pwm.frequencyI2C(400000); //400kHz fast I2C comunication
}
int main() {
while(1){
initServoDriver();
- wait(0.2);
- setServoPulse(0, 2300);
- setServoPulse(1, 500);
- wait(0.5);//delay necessary to perform the action
- setServoPulse(0, 1350);
- setServoPulse(1, 1350);
- wait(0.5);
- setServoPulse(0,550);
- setServoPulse(1, 2250);
- wait(0.5);
- setServoPulse(0, 2300);
- wait(2);
- for (int mov = 550; mov < 2300; mov++){
+ setServoPulse(0, 308); //0 degree chanel 0
+ setServoPulse(1, 495); //-90 degree chanel 1
+ wait(1);
+ setServoPulse(0, 135); //90 degree chanel 0
+ setServoPulse(1, 308); //0 degree chanel 1
+ wait(1);
+ setServoPulse(1, 135); //90 degree chanel 1
+ setServoPulse(0, 509); //0 degree chanel 1
+ wait(1);
+ for (int mov = 495; mov > 135; mov--){
+ setServoPulse(1, mov);
+ wait(0.003);}
+ for (int mov = 115; mov < 509; mov++){
setServoPulse(0, mov);
- wait(0.001);
- }
- for (int mov = 500; mov < 2200; mov++){
- setServoPulse(1, mov);
- wait(0.001);
- }
+ wait(0.003);
+ }
}
}
\ No newline at end of file
PCA9685