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標題: PCA9685 16路12-bit PWM控制板的程式問題 [打印本頁]

作者: Charlotte 時間: 2016-9-18 11:09
標題: PCA9685 16路12-bit PWM控制板的程式問題
本帖最後由 Charlotte 於 2016-9-20 15:24 編輯

這是我的控制板，裡面是用Adafruit_PWMServoDriver.h 資料庫

範例:
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);

// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN  150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  600 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
uint8_t servonum = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

#ifdef ESP8266
  Wire.pins(2, 14); // ESP8266 can use any two pins, such as SDA to #2 and SCL to #14
#endif

  pwm.begin();

  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates

  yield();
}

// you can use this function if you'd like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
void setServoPulse(uint8_t n, double pulse) {
  double pulselength;

  pulselength = 1000000; // 1,000,000 us per second
  pulselength /= 60; // 60 Hz
  Serial.print(pulselength); Serial.println(" us per period");
  pulselength /= 4096;  // 12 bits of resolution
  Serial.print(pulselength); Serial.println(" us per bit");
  pulse *= 1000;
  pulse /= pulselength;
  Serial.println(pulse);
  pwm.setPWM(n, 0, pulse);
}

void loop() {
  // Drive each servo one at a time
  Serial.println(servonum);
  for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
pwm.setPWM(servonum, 0, pulselen);
  }

  delay(500);
  for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
pwm.setPWM(servonum, 0, pulselen);
  }

  delay(500);

  servonum ++;
  if (servonum > 7) servonum = 0;
}

Q:
我想要使用上面的控制板達到下面程式的效果，請問程式要如何打?

#include <SoftwareSerial.h>
#include <Servo.h>

SoftwareSerial BT(11,10); //分別接藍芽模組的TX, RX
Servo servoX;

void setup() {
Serial.begin(9600); //Arduino起始鮑率：9600
BT.begin(115200);

servoX.attach(8);
servoX.write(90);

}

void loop() {
  int angleOffset,ServoXAngle;
ServoXAngle = servoX.read(); ←這一行程式不知道怎麼在控制板上面呈現
// 檢查是否有資料可供讀取
if (BT.available() > 0) {
   // 讀取進來的 byte
   int inByte =BT.read();
   Serial.println(inByte);
   switch(inByte){

  case 'U':

if(inByte >0) {
      angleOffset = 2;

   ServoXAngle+= angleOffset; //計算新的馬達角度

   // 如果新的馬達角度在最小角度和最大角度之間,就改變馬達的角度
   if(ServoXAngle > 29 && ServoXAngle < 151) {
   servoX.write(ServoXAngle);
      }
      }
break;

}
}
}

作者: 超新手 時間: 2016-9-19 17:14
其實程式改一下, 就可以省掉
ServoXAngle = servoX.read();  這一行

如下
int ServoXAngle=90;
void setup() {
................
}
void loop() {
  int angleOffset;
// 檢查是否有資料可供讀取
if (BT.available() > 0) {
// 讀取進來的 byte
   int inByte =BT.read();
.......................

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