Tc97 lan / kcsy1_pca9685

制造工程实践课程例程

Dependencies:   kcsyPCA9685

main.cpp@0:2e707e50fd73, 2019-10-24 (annotated)

Committer:
lant19
Date:
Thu Oct 24 06:39:03 2019 +0000
Revision:
0:2e707e50fd73
with Chinese

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lant19 0:2e707e50fd73 1
lant19 0:2e707e50fd73 2 #include"PCA9685.h"
lant19 0:2e707e50fd73 3 #include"mbed.h"
lant19 0:2e707e50fd73 4
lant19 0:2e707e50fd73 5
lant19 0:2e707e50fd73 6
lant19 0:2e707e50fd73 7 PCA9685 pwm(PB_7,PB_6);//设置SDA与SCL连接的引脚
lant19 0:2e707e50fd73 8
lant19 0:2e707e50fd73 9 void setServoPulse(uint8_t n, float pulse) { //n为通道,pulse为下降沿位置
lant19 0:2e707e50fd73 10 pwm.setPWM(n, 0, pulse);//如果希望调整上升沿位置,可在main函数中可直接使用pwm.setPWM函数
lant19 0:2e707e50fd73 11 }
lant19 0:2e707e50fd73 12
lant19 0:2e707e50fd73 13 void initServoDriver() {//整体初始化
lant19 0:2e707e50fd73 14 pwm.begin();
lant19 0:2e707e50fd73 15 pwm.setPrescale(121); // 设置20ms用于通用伺服
lant19 0:2e707e50fd73 16 pwm.frequencyI2C(400000); //400kHz 快速I2C通信
lant19 0:2e707e50fd73 17 }
lant19 0:2e707e50fd73 18
lant19 0:2e707e50fd73 19 int main() {
lant19 0:2e707e50fd73 20
lant19 0:2e707e50fd73 21 while(1){
lant19 0:2e707e50fd73 22 initServoDriver();
lant19 0:2e707e50fd73 23 setServoPulse(0, 308); //运动试验
lant19 0:2e707e50fd73 24 setServoPulse(1, 495); //运动试验
lant19 0:2e707e50fd73 25 wait(1);
lant19 0:2e707e50fd73 26 setServoPulse(0, 135);
lant19 0:2e707e50fd73 27 setServoPulse(1, 308);
lant19 0:2e707e50fd73 28 wait(1);
lant19 0:2e707e50fd73 29 setServoPulse(1, 135);
lant19 0:2e707e50fd73 30 setServoPulse(0, 509);
lant19 0:2e707e50fd73 31 wait(1);
lant19 0:2e707e50fd73 32 for (int mov = 495; mov > 135; mov--){
lant19 0:2e707e50fd73 33 setServoPulse(1, mov);
lant19 0:2e707e50fd73 34 wait(0.003);}
lant19 0:2e707e50fd73 35 for (int mov = 115; mov < 509; mov++){
lant19 0:2e707e50fd73 36 setServoPulse(0, mov);
lant19 0:2e707e50fd73 37 wait(0.003);
lant19 0:2e707e50fd73 38 }
lant19 0:2e707e50fd73 39 }
lant19 0:2e707e50fd73 40 }