CNCU PCA9685 Servo Driver i2C Interface Litaelo

Ikopanye le AM.CO.ZA Support haeba u kopana le mathata a ho fetola betri kapa haeba boemo ba mochini bo fetoha nakong ea ts'ebetso. U ka ikopanya le uena ka WhatsApp ho 060 600 6000 ho fumana thuso.

Fetileview

Ho khanna likoloi tsa servo ka laeborari ea Arduino Servo ho bonolo haholo, empa e 'ngoe le e' ngoe e sebelisa phini ea bohlokoa - re sa bue ka matla a ho sebetsa a Arduino. Adafruit 16-Channel 12-bit PWM/Servo Driver e tla khanna ho fihla ho li-servos tse 16 holim'a I2C ka lipini tse 2 feela. Molaoli oa PWM o ka har'a board o tla khanna liteishene tsohle tse 16 ka nako e le 'ngoe ntle le ho se be le ts'ebetso e eketsehileng ea Arduino. Ho feta moo, o ka kopanya tse 62 tsa tsona ho laola ho fihla ho li-servos tse 992 - kaofela li na le lipini tse 2 tse tšoanang!
Adafruit PWM/Servo Driver ke tharollo e phethahetseng bakeng sa projeke efe kapa efe e hlokang li-servos tse ngata.

Pinouts

Ho na le lihlopha tse peli tsa li-input pins ka mahlakoreng ka bobeli. Mahlakore ka bobeli a lithapo a tšoana! Sebelisa lehlakore lefe kapa lefe leo u le ratang, u ka boela ua kopanya habonolo ka ho hokahanya mahlakore a mabeli ka mahlakoreng

Matla Pins

GND - Ena ke pini ea fatše ea matla le pontšo, e tlamehang ho hokahanngoa

VCC - Ena ke pinana ea matla a logic, kopanya sena le boemo ba logic boo u batlang ho bo sebelisa bakeng sa tlhahiso ea PCA9685, e lokela ho ba 3 - 5V max! E boetse e sebelisetsoa li-pullups tsa 10K ho SCL / SDA kahoo ntle le haeba u e-na le li-pullups tsa hau, e-ba le eona e lumellane le boemo ba kelello ba microcontroller!
V+ - Ena ke pini ea matla ea boikhethelo e tla fana ka matla a ajoang ho li-servos. Haeba u sa sebelise bakeng sa servos u ka tloha u khaotsoe. Ha e sebelisoe ho hang ke chip. U ka boela ua kenya matla ho tloha bolokong ba li-pin-2 ka holimo ho boto. U lokela ho fana ka 5-6VDC haeba u sebelisa servos. Haeba u tlameha, u ka ea holimo ho 12VDC, empa haeba u senya le ho hokela VCC ho V+ u ka senya boto ea hau!

Laola Pins

SCL - Pini ea oache ea I2C, hokela mohala oa hau oa oache oa microcontroller I2C. E ka sebelisa 3V kapa 5V logic, 'me e na le ho hula ho fokolang ho VCC

SDA - phini ea data ea I2C, hokela mohala oa hau oa data oa microcontroller I2C. E ka sebelisa 3V kapa 5V logic, 'me e na le ho hula ho fokolang ho VCC
OE - Ho thusa ho tsoa. E ka sebelisoa ho tima liphetho tsohle kapele. Ha phini ena e le tlase lithapo tsohle lia buleha. Ha phini e phahame, liphetho lia tima. E theotsoe tlase ka mokhoa o ikhethileng kahoo ke phini ea boikhethelo!

Li-ports tse hlahisoang

Ho na le likou tse 16 tsa tlhahiso. Boema-kepe bo bong le bo bong bo na le lithakhisa tse 3: V+, GND le tlhahiso ea PWM. PWM ka 'ngoe e sebetsa e ikemetse ka botlalo empa kaofela e tlameha ho ba le maqhubu a tšoanang a PWM.

Ka mantsoe a mang, bakeng sa li-LED mohlomong u batla 1.0 KHz empa li-servos li hloka 60 Hz - kahoo u ke ke ua sebelisa halofo bakeng sa li-LED @ 1.0 KHz le halofo @ 60 Hz.
Li etselitsoe li-servos empa u ka li sebelisa bakeng sa li-LED! Boholo ba hona joale ka phini ke 25mA.

Ho na le li-resistors tsa 220 ohm ka letoto le nang le PWM Pins tsohle mme mohopolo oa tlhahiso o tšoana le VCC kahoo hopola seo ha u sebelisa li-LED.

Kopano

Kenya Lihlooho tsa Servo

Kenya lihlooho tsa banna tse 4 3 × 4 libakeng tse tšoailoeng moeling oa boto.

Solder lipini tsohle

Ho na le tse ngata tsa tsona!

Kenya Lihlooho bakeng sa Taolo

Ho kenyelelitsoe hlooho ea banna. Moo u batlang ho kenya lihlooho le ka lehlakoreng lefe ho itšetlehile ka tšebeliso:
Bakeng sa letlapa la bohobe (http://adafru.it/239) sebelisa, kenya lihlooho ka tlase ho boto.
Bakeng sa ho sebelisoa le jumper wires (http://adafru.it/758), kenya lihlooho holim'a boto.
Ho sebelisoa le rona 6-pin cable (http://adafru.it/206), kenya lihlooho holim'a boto.
Haeba u ntse u kenya liboto tse ngata tsa bakhanni, u tla batla lihlooho ka mahlakoreng ka bobeli.

Kenya Lisebelisoa tsa Matla

Haeba o kenya liboto tse ngata tsa bakhanni, o hloka feela terminal ea motlakase ho ea pele.

Hoka e Hokela

Ho kopanya ho Arduino

PWM/Servo Driver e sebelisa I2C kahoo ho nka lithapo tse 4 feela ho hokela Arduino ea hau:

"Classic" Arduino wiring:

+5v -> VCC (ona ke matla a BREAKOUT feela, ESE matla a servo!)
GND -> GND
Analoge 4 -> SDA

Analoge 5 -> SCL

Wiring ea khale ea Mega:

+5v -> VCC (ona ke matla a BREAKOUT feela, ESE matla a servo!)

GND -> GND
Digital 20 -> SDA
Digital 21 -> SCL

R3 mme hamorao Arduino wiring (Uno, Mega & Leonardo):
(Liboto tsena li fane ka lithakhisa tsa SDA & SCL hloohong e haufi le sehokelo sa USB)

+5v -> VCC (ona ke matla a BREAKOUT feela, ESE matla a servo!)
GND -> GND

SDA -> SDA
SCL -> SCL

Pini ea VCC ke matla feela bakeng sa chip ka boeona. Haeba u batla ho hokela li-servos kapa li-LED tse sebelisang lithapo tsa V+, U TLAMEHA ho hokela pinana ea V+ hape. Pini ea V+ e ka ba holimo ho 6V le haeba VCC e le 3.3V (chip e bolokehile ka 5V). Re fana ka maikutlo a ho hokahanya matla ka "terminal block" e putsoa kaha e sirelelitsoe ke polarity.

Matla bakeng sa Basebeletsi
Li-servos tse ngata li etselitsoe ho sebetsa ka 5 kapa 6v. Hopola hore li-servos tse ngata tse tsamaeang ka nako e le 'ngoe (haholo-holo tse matla tse matla) li tla hloka tse ngata hona joale. Esita le li-servos tse nyenyane li tla hula makholo a 'maloa a mA ha li falla. Li-servos tse ling tsa High-torque li tla hula ho feta 1A e 'ngoe le e' ngoe tlas'a mojaro.
Likhetho tse ntle tsa motlakase ke:

5v 2A phepelo ea motlakase e fetohang (http://adafru.it/276)

5v 10A phepelo ea motlakase e fetohang (http://adafru.it/658)
Sets'oants'o sa Betri sa 4xAA (http://adafru.it/830) - 6v e nang le lisele tsa alkaline. 4.8v e nang le lisele tse nchafatsoang tsa NiMH.
Lipakete tsa 4.8 kapa 6v tse ka nchafatsoang tsa RC tse tsoang lebenkeleng la ho itlosa bolutu.

Ha se mohopolo o motle ho sebelisa pin ea Arduino 5v ho matlafatsa li-servos tsa hau. Lerata la motlakase le 'brownouts' tse tsoang ho ts'ebetso e feteletseng ea hajoale li ka etsa hore Arduino ea hau e sebetse ka mokhoa o sa tsitsang, e hlophise bocha le/kapa e chese ho feta tekano.

Ho eketsa Capacitor ho thru-hole capacitor slot
Re na le sebaka ho PCB bakeng sa solder ka electrolytic capacitor. Ho ipapisitsoe le ts'ebeliso ea hau, o kanna oa hloka kapa oa se hloke capacitor. Haeba u khanna li-servos tse ngata ho tloha phepelong ea motlakase e qoehang haholo ha li-servos li tsamaea, n * 100uF moo n palo ea servos ke sebaka se setle sa ho qala - mohlala 470uF kapa ho feta bakeng sa 5 servos. Kaha e itšetlehile haholo ka toro ea hona joale ea servo, torque ho enjene e 'ngoe le e' ngoe, le hore na ke phepelo efe ea matla, ha ho na "boleng bo le bong ba boselamose ba capacitor" eo re ka e khothaletsang ke ka lebaka leo re sa kenyelletseng capacitor ka har'a kit.

Ho kopanya Servo
Li-servos tse ngata li tla le sehokelo se tloaelehileng sa 3-pin se tla hokela ka kotloloho lihloohong tsa Servo Driver. Etsa bonnete ba hore o hokahanya polaka le terata ea fatše (hangata e ntšo kapa e sootho) le mola o ka tlase le terata ea matšoao (hangata e tšehla kapa e tšoeu) ka holimo.

Ho eketsa Litšebeletso tse ling
Ho fihlela ho li-servos tse 16 li ka hokelloa botong e le 'ngoe. Haeba o hloka ho laola li-servos tse fetang 16, liboto tse eketsehileng li ka tlamisoa joalo ka ha ho hlalositsoe leqepheng le latelang.

Bakhanni ba Chaining

Bakhanni ba bangata (ho fihla ho 62) ba ka tlanngoe ka liketane ho laola li-servos tse ngata.
Ka lihlooho lipheletsong tse peli tsa boto, wiring e bonolo joaloka ho kopanya a Cable e bapileng ea likhoele tse 6 (http://adafru.it/206) ho tloha botong e 'ngoe ho ea ho e 'ngoe.

Ho Bua le Maboto

Boto e 'ngoe le e' ngoe ka ketane e tlameha ho fuoa aterese e ikhethang. Sena se etsoa ka li-jumpers tsa aterese ka lehlakoreng le ka holimo le letona la boto. Aterese ea motheo ea I2C bakeng sa boto ka 'ngoe ke 0x40. Aterese ea binary eo u e hlophisang ka li-jumpers tsa aterese e eketsoa ho aterese ea I2C ea motheo.

Ho hlophisa aterese ea offset, sebelisa lerotholi la solder ho koala sekhahla sa aterese se tsamaisanang le "1" e 'ngoe le e 'ngoe atereseng.

Boto ea 0: Aterese = 0x40 Offset = binary 00000 (ha ho na li-jumpers tse hlokahalang)

Boto ea 1: Aterese = 0x41 Offset = binary 00001 (borokho ba A0 joalo ka setšoantšong se ka holimo)
Boto ea 2: Aterese = 0x42 Offset = binary 00010 (borokho ba A1)
Boto ea 3: Aterese = 0x43 Offset = binary 00011 (borokho ba A0 & A1)

Boto ea 4: Aterese = 0x44 Offset = binary 00100 (borokho ba A2)

etc.
Sekhecheng sa hau, u tla hloka ho phatlalatsa projeke e fapaneng bakeng sa boto ka 'ngoe. Pitso e qala nthong e 'ngoe le e' ngoe, 'me e laola servo e' ngoe le e 'ngoe ka ntho eo e khomaretsoeng ho eona. Bakeng sa mohlalaampLe:

Ho Sebelisa Laebrari ea Adafruit

Kaha PWM Servo Driver e laoloa ho feta I2C, ho bonolo haholo ho e sebelisa ka microcontroller kapa microcomputer.
Ho demo ena, re tla bonts'a ho e sebelisa ka Arduino IDE empa khoutu ea C ++ e ka tsamaisoa habonolo.

Kenya laeborari ea Adafruit PCA9685

Ho qala ho bala data ea sensor, o tla hloka ho etsa joalo kenya laeborari ea Adafruit_PWMServo (khoutu sebakeng sa rona sa polokelo ea github) (https://adafru.it/aQl). E fumaneha ho tsoa ho mookameli oa laeborari ea Arduino kahoo re khothaletsa ho e sebelisa.
Ho tsoa ho IDE bula mookameli oa laeborari…

Ebe u thaepa adafruit pwm ho fumana laebrari. Tobetsa Kenya

Re boetse re na le thuto e ntle ea ho kenya laeborari ea Arduino ho: http://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use (https://adafru.it/aYM)

Leka ka Example khoutu:

Pele etsa bonnete ba hore likopi tsohle tsa Arduino IDE li koetsoe.
E latelang, bula Arduino IDE ebe u khetha File-> Examples-> Adafruit_PWMServoDriver- >Servo. Sena se tla bula example file ka fensetere ea IDE.

Haeba u sebelisa Breakout:

Hokela boto ea mokhanni le servo joalokaha ho bontšitsoe leqepheng le fetileng. Se ke oa lebala ho fana ka matla ho Vin ka bobeli (3-5V logic level) le V+ (5V servo power). Sheba hore LED e tala e khantšitse!

Haeba u sebelisa Shield:

Hokela thebe ho Arduino ea hau. Se ke oa lebala hape o tla tlameha ho fana ka 5V ho V+ terminal block. Li-LED tse khubelu le tse tala li tlameha ho bonesoa.

Haeba u sebelisa FeatherWing:

Hokela FeatherWing ho Masiba a hau. Se ke oa lebala hape o tla tlameha ho fana ka 5V ho V+ terminal block. Sheba hore LED e tala e khantšitse!

Kopanya Servo

Servo e le 'ngoe e lokela ho hokeloa boema-kepeng ba PWM #0, boema-kepe ba pele. U lokela ho bona servo e fiela pele le morao ka likhato tse ka bang 180.

Ho lekola li-Servos tsa hau
Nako ea pulse ea Servo e fapana lipakeng tsa mefuta le mefuta e fapaneng. Kaha ke potoloho ea taolo ea analoge, hangata ho na le phapang lipakeng tsa samplets'oao le mofuta o tšoanang. Bakeng sa taolo e nepahetseng ea boemo, o tla batla ho lekanya bophara ba minumum le boholo ba pulse khoutu ea hau ho tsamaisana le maemo a tsebahalang a servo.

Fumana Bonyane:

Ho sebelisa example khoutu, hlophisa SERVOMIN ho fihlela ntlha e tlase ea ho fiela e fihla ho bonyane ba maeto. Ho molemo ho atamela sena butle-butle le ho emisa pele moeli oa 'mele oa ho tsamaea o fihla.

Fumana Maximum:

Hape ho sebelisa example khoutu, fetola SERVOMAX ho fihlela ntlha e phahameng ea ho fiela e fihla ho palo e kholo ea maeto. Hape, ho molemo ho atamela sena butle-butle le ho emisa pele moeli oa 'mele oa ho tsamaea o fihla.

E-ba hlokolosi ha u lokisa SERVOMIN le SERVOMAX. Ho otla meeli ea 'mele ea ho tsamaea ho ka hlobolisa likere mme ha senya servo ea hau ka ho sa feleng.

E fetolela ho tloha ho Degrees ho ea ho Pulse Length
The Mosebetsi oa "mapa ()" oa Arduino (https://adafru.it/aQm) ke mokhoa o bonolo oa ho fetolela lipakeng tsa likhato tsa ho potoloha le bolelele ba lebelo la SERVOMIN le SERVOMAX ea hau e lekantsoeng. Ho nka servo e tloaelehileng e nang le likhato tse 180 tsa ho potoloha; hang ha u se u lekanyelitse SERVOMIN ho boemo ba 0-degree le SERVOMAX ho boemo ba 180-degree, u ka fetola angle efe kapa efe pakeng tsa 0 le 180 likhato ho bolelele ba pulse bo lumellanang le mola o latelang oa khoutu:

Library Reference setPWMFreq(freq)

Tlhaloso

Ts'ebetso ena e ka sebelisoa ho lokisa maqhubu a PWM, a bontšang hore na IC e hlahisoa ke 'pulse' tse kae tse tletseng ka motsotsoana. Ha ho buuoa ka tsela e fapaneng, maqhubu a etsa qeto ea hore na ho otla ha pelo ka 'ngoe ho nka nako e kae ho tloha qalong ho isa qetellong, ho ela hloko likarolo tse holimo le tse tlase tsa ho otla ha pelo.
Maqhubu a bohlokoa ho PWM, kaha ho beha maqhubu a phahameng haholo ka potoloho e nyane haholo ea mosebetsi ho ka baka mathata, kaha 'nako ea ho phahama' ea lets'oao (nako eo e e nkang ho tloha 0V ho ea VCC) e kanna ea ba telele ho feta nako lets'oao le sebetsa, 'me tlhahiso ea PWM e tla bonahala e le bonolo ebile e kanna ea se fihle ho VCC, e ka bakang mathata a mangata.

Likhang

freq: Nomoro e emelang maqhubu ho Hz, pakeng tsa 40 le 1600

Example

Khoutu e latelang e tla beha frequency ea PWM ho 1000Hz:

setPWM(channel, butle, tima)
Tlhaloso
Ts'ebetso ena e beha qalo (ho) le pheletso (ho tima) ea karolo e phahameng ea phallo ea PWM mocheng o itseng. U hlakisa boleng ba 'tick' lipakeng tsa 0..4095 ha lets'oao le tla bulela, le hore na le tla tima neng. Channel e bonts'a hore na ke efe ho liphetho tsa 16 tsa PWM tse lokelang ho nchafatsoa ka boleng bo bocha.

Likhang

mocha: mocha o lokelang ho nchafatsoa ka boleng bo bocha (0..15)
ka: Letshwao (pakeng tsa 0..4095) ha lets'oao le lokela ho fetoha ho tloha tlase ho ea holimo
tima: letshwao (pakeng tsa 0..4095) ha lets'oao le lokela ho fetoha ho tloha holimo ho ea tlase

Example
E latelang exampLe tla etsa hore mocha oa 15 o qale ho theoha, o phahame ho pota 25% ho ea ho pulse (tšoae 1024 ho 4096), phetoho e khutlela tlaase ho 75% ho pulse (tick 3072), 'me e lule e le tlaase bakeng sa 25% ea ho qetela ea pulse. :

E sebelisoa joalo ka GPIO

Hape ho na le litlhophiso tse khethehileng tsa ho bulela kapa ho tima lithapo ka botlalo

Litokomane tsa Laebrari ea Arduino

Litokomane tsa Laebrari ea Arduino (https://adafru.it/Au7)

Python & CircuitPython

Ho bonolo ho sebelisa mokhanni oa PCA9685 ka Python kapa CircuitPython le Adafruit CircuitPython PCA9685 (https://adafru.it/tZF) mojule. Mojule ona o o lumella ho ngola khoutu ea Python habonolo e laolang li-servos le PWM ka ho phatloha hona.

U ka sebelisa boto ena ea bakhanni ka board efe kapa efe ea CircuitPython microcontroller kapa ka komporo e nang le GPIO le Python. ka lebaka la Adafruit_Blinka, laeborari ea rona e tsamaellanang ea CircuitPython-for- Python (https://adafru.it/BSN).

CircuitPython Microcontroller Wiring
Qala ka terata PCA9685 ho boto ea hau hantle joalo ka ha ho bonts'itsoe maqepheng a fetileng a Arduino. Ex ke enaample ho kenya Feather M0 ho boto ea bakhanni ka I2C:

Python Computer Wiring

Kaha ho na le likhomphutha / liboto tse ngata tsa Linux tseo u ka li sebelisang re tla bonts'a wiring bakeng sa Raspberry Pi. Bakeng sa li-platform tse ling, ka kopo etela tataiso ea CircuitPython ho Linux ho bona hore na sethala sa hau sea tšehetsoa (https://adafru.it/BSN).
Mona ke Raspberry Pi e kentsoeng ka I2C:

Seke oa leka ho matlafatsa li-servos tsa hau ho tsoa ho matla a 5V a RasPi kapa Linux, o ka etsa hore phepelo ea motlakase e soothoe habonolo ebe oa senya Pi ea hau! Sebelisa adaptara e arohaneng ea 5v 2A kapa 4A

5V 2A (2000mA) ho fetola phepelo ea matla - UL E thathamisitsoe

Ena ke phepelo ea motlakase e netefalitsoeng ke FCC/CE mme e thathamisitsoe ke UL. U hloka matla a mangata a 5V?
Phepelo ena ea switching e fana ka tlhahiso e hloekileng e laoloang ea 5V ho fihla ho 2000mA. Kenyeletso ea 110 kapa 240, kahoo e ea sebetsa… https://www.adafruit.com/product/276

5V 4A (4000mA) ho fetola phepelo ea matla - UL E thathamisitsoe
U hloka matla a mangata a 5V? Phepelo ena ea switching e fana ka tlhahiso e hloekileng e laoloang ea 5V ho fihla ho 4 Amps (4000mA). 110 kapa 240 input, kahoo e sebetsa naheng efe kapa efe. Li-plug ke "US… https://www.adafruit.com/product/1466

Ho kenngoa ha CircuitPython ea PCA9685 le Lilaebrari tsa ServoKit

O tla hloka ho kenya Adafruit CircuitPython PCA9685 (https://adafru.it/tZF) laebrari ho boto ea CircuitPython ea hau.
Pele, etsa bonnete ba hore o tsamaisa phetolelo ea morao-rao ea Adafruit CircuitPython (https://adafru.it/Amd) bakeng sa boto ea hau.

Ka mor'a moo o tla hloka ho kenya lilaebrari tse hlokahalang ho sebelisa hardware- latela ka hloko mehato ea ho fumana le ho kenya lilaebrari tsena ho tloha. Sephutheloana sa laeborari ea Adafruit's CircuitPython (https://adafru.it/uap). Tataiso ea rona ea ho qala ea CircuitPython e na le leqephe le letle ho mokhoa oa ho kenya laebrari bundle (https://adafru.it/ABU).

Bakeng sa liboto tse sa buuoeng joalo ka Trinket M0 kapa Gemma M0, u tla hloka ho kenya lilaebrari tse hlokahalang ka letsoho:

adafruit_pca9685.mpy
adafruit_bus_device
adafruit_register
adafruit_motor
adafruit_servokit.mpy

Pele o tsoela pele etsa bonnete ba hore foldara ea hau ea lib kapa motso filesistimi e na le adafruit_pca9685.mpy, adafruit_register, le adafruit_servokit.mpy, adafruit_motor le adafruit_bus_device files le lifoldara li kopitsoe.
E 'ngoe hokela ho serial ea boto REPL (https://adafru.it/Awz) kahoo o ho CircuitPython >>> kapele.

Ho kenya Python ea PCA9685 le Lilaebrari tsa ServoKit

U tla hloka ho kenya laeborari ea Adafruit_Blinka e fanang ka tšehetso ea CircuitPython ho Python. Sena se kanna sa hloka ho nolofalletsa I2C sethaleng sa hau le ho netefatsa hore o tsamaisa Python 3. Kaha sethala se seng le se seng se fapane hanyane, 'me Linux e fetoha khafetsa, ka kopo etela CircuitPython ho Linux tataiso ho lokisa komporo ea hau. (https://adafru.it/BSN)!

Ha seo se se se entsoe, ho tsoa moleng oa taelo ea hau tsamaisa litaelo tse latelang:

Haeba Python ea hau ea kamehla e le mofuta oa 3 o kanna oa hloka ho sebelisa 'pip' ho fapana le hoo. Etsa bonnete ba hore ha u leke ho sebelisa CircuitPython ho Python 2.x, ha e tšehetsoe!

Tšebeliso ea CircuitPython & Python

Karolo e latelang e tla bonts'a mokhoa oa ho laola PCA9685 ho tsoa ho boto ea Python prompt / REPL. U tla ithuta ho laola li-servos le ho fifatsa li-LED ka ho thaepa khoutu e ka tlase.

Li-LED tse fokolang
Matha khoutu e latelang ho kenya li-module tse hlokahalang le ho qala khokahano ea I2C le boto ea bakhanni:

Channel ka 'ngoe ea PCA9685 e ka sebelisoa ho laola khanya ea LED. PCA9685 e hlahisa lets'oao le phahameng la PWM le bulelang le ho tima LED kapele haholo. Haeba LED e butse nako e telele ho feta e tingoe, e tla bonahala e khanya mahlong a hau.
Qala ka terata ea LED ho boto ka tsela e latelang. Hlokomela hore ha ho hlokahale hore u sebelise sehanyetsi ho fokotsa hona joale ka LED kaha PCA9685 e tla fokotsa hona joale ho pota 10mA:

LED cathode / leoto le lekhutšoanyane ho PCA9685 channel GND / fatše. LED anode / leoto le lelelele ho PCA9685 channel PWM.

Sehlopha sa PCA9685 se fana ka taolo ea maqhubu a PWM le potoloho ea mosebetsi oa mocha ka mong. Hlahloba Litokomane tsa sehlopha sa PCA9685 (https://adafru.it/C5n) bakeng sa lintlha tse ling.
Bakeng sa li-LED tse fifalang hangata ha o hloke ho sebelisa maqhubu a lets'oao la PWM ka potlako mme o ka beha frequency ea boto ea PWM ho 60hz ka ho beha tšobotsi ea frequency:

PCA9685 e ts'ehetsa liteishene tse arohaneng tse 16 tse arolelanang khafetsa empa li ka ba le li-cycle tsa mosebetsi tse ikemetseng. Ka tsela eo o ne o ka fifatsa li-LED tse 16 ka thoko!
Ntho ea PCA9685 e na le tšobotsi ea likanale tse nang le ntho bakeng sa mocha ka mong o ka laolang potoloho ea mosebetsi. Ho etsa hore mocha ka mong sebelisa [] ho supa likanale.

Joale laola khanya ea LED ka ho laola potoloho ea mosebetsi oa mocha o hokahaneng le LED. Boleng ba potoloho ea mosebetsi e lokela ho ba boleng ba 16-bit, ke hore 0 ho isa ho 0xffff, e emelang hore na ke liphesente life tsa nako eo lets'oao le leng ka eona vs. off. Boleng ba 0xffff ke 100% khanya, 0 ke 0% khanya, 'me lipakeng tsa boleng li tloha ho 0% ho isa ho 100% khanya.
Bakeng sa mohlalaample bulela LED ka botlalo ka potoloho ea mosebetsi ea 0xffff:

Kamora ho tsamaisa taelo e kaholimo o lokela ho bona lebone la LED le khanya ka botlalo! Joale tima LED ka potoloho ea mosebetsi ea 0:

Leka boleng bo pakeng tsa 1000:

U lokela ho bona lebone la LED le le lerootho. Leka ho leka ka litekanyetso tse ling tsa potoloho ea mosebetsi ho bona hore na LED e fetola khanya joang!
Bakeng sa mohlalaample etsa hore LED e khanye le ho tima ka ho beha duty_cycle ka loop:

Tsena tsa loops li nka nakoana hobane 16-bits ke linomoro tse ngata. CTRL-C ho emisa loop hore e se ke ea sebetsa le ho khutlela ho REPL.

ExampKhoutu

Ho laola li-Servos

Re ngotse laeborari e sebetsang ea CircuitPython bakeng sa lisebelisoa tse fapaneng tsa PWM/Servo tse bitsoang. Adafruit CircuitPython ServoKit (https://adafru.it/Dpu) e sebetsanang le litlhophiso tsohle tse rarahaneng bakeng sa hau. Seo u hlokang ho se etsa feela ke ho tlisa sehlopha se nepahetseng ho tsoa laebraring, ebe likarolo tsohle tsa sehlopha seo li fumaneha bakeng sa tšebeliso.
Re tla u bontša mokhoa oa ho kenya sehlopha sa ServoKit le ho se sebelisa ho laola li-motor tsa servo ka ho phatloha ha mocha oa Adafruit 16.
Haeba u sa tloaelane le servos etsa bonnete ba hore u qala ho bala sena kenyelletso leqepheng la servos (https://adafru.it/scW) le sena leqephe le tebileng la tataiso ea servo (https://adafru.it/scS).
Pele hokela servo ho mocha oa 0 ho PCA9685. Ex ke enaample ea servo e hokahantsoeng le kanaleng 0:

Etsa bonnete ba hore o butse kapa o hokile motlakase oa kantle oa 5V ho boto ea PCA9685 hape!
Pele o tla hloka ho kenya le ho qala sehlopha sa ServoKit. U tlameha ho bolela palo ea likanale tse teng botong ea hau. Ho phatloha ho na le likanale tse 16, kahoo ha u theha ntho ea sehlopha, u tla hlakisa 16.

Joale u se u itokiselitse ho laola li-servos tse tloaelehileng le tse sa khaotseng tsa ho potoloha.

Litšebeletso tse tloaelehileng

Ho laola servo e tloaelehileng, o hloka ho hlakisa mocha oo servo e hokahaneng le ona. Joale u ka laola motsamao ka ho beha angle ho palo ea likhato.
Ka ho sa feleng, sehlopha sa Servo se tla sebelisa mofuta oa actuation, bonyane ba pulse-width, le litekanyetso tse phahameng tsa pulse-width tse lokelang ho sebetsa bakeng sa li-servos tse ngata. Leha ho le joalo, hlahloba litokomane tsa sehlopha sa Servo (https://adafru.it/BNE) bakeng sa lintlha tse ling mabapi le liparamente tse ling ho etsa lets'oao le etselitsoeng li-servos tsa hau.

Ka Servo, o bolela boemo e le angle. Lehlakore le tla lula le le lipakeng tsa 0 le mofuta oa actuation o fanoeng ha Servo e thehoa. Ntho ea kamehla ke likhato tse 180 empa servo ea hau e ka 'na ea e-ba le ho fiela ho honyenyane-fetola kakaretso ea angle ka ho hlakisa paramente ea actuation_angle ho sehlomathiso sa sehlopha sa Servo ka holimo.
Joale beha angle ho 180, e 'ngoe e feteletseng ea mefuta:

Ho khutlisetsa servo ho likhato tse 0:

Ka servo e tloaelehileng, o hlalosa boemo e le angle. Leqhubu le tla lula le le lipakeng tsa 0 le lebelo la ts'ebetso. Ntho ea kamehla ke likhato tse 180 empa servo ea hau e ka ba le fiela e nyane. O ka fetola kakaretso ea angle ka ho seta actuation_range .
Bakeng sa mohlalaample, ho beha sebaka sa actuation ho likhato tse 160:

Hangata mefuta eo servo e e hlokomelang e fapana hanyane ho tsoa ho tse ling. Haeba servo e sa ka ea fiela sebaka se lebeletsoeng ka botlalo, leka ho fetola bophara bo tlase le bo boholo ka ho fetesisa u sebelisa set_pulse_width_range(min_pulse, max_pulse) .
Ho beha bophara ba pulse ho bonyane ba 1000 le boholo ba 2000:

Ke sona feela se teng ho laola li-servos tse tloaelehileng ka ho phatloha ha PCA9685, Python le ServoKit!

Litšebeletso tse Tsoelang Pele Tsa Rotation

Ho laola servo e tsoelang pele ea ho potoloha, o tlameha ho hlakisa mocha oo servo e leng ho oona.
Joale o ka laola motsamao o sebelisa throttle.
Bakeng sa mohlalaample, ho qala servo e tsoelang pele ea ho potoloha e hokahaneng le mocha oa 1 ho ea pele:

Ho qala servo e sa khaotseng ea ho potoloha e hokahaneng le mocha oa 1 ho ea ho throttle e felletseng:

Ho beha halofo ea throttle, sebelisa decimal:

'Me, ho emisa motsamao o sa khaotseng oa servo ho beha throttle ho 0 :

Ke sona feela se teng ho laola li-servos tse potolohang tse tsoelang pele ka ho phatloha ha li-channel tsa PCA9685 16, Python le ServoKit!

ExampKhoutu

Python Docs

Python Docs (https://adafru.it/C5p)

Python Docs: ServoKit

Python Docs: ServoKit (https://adafru.it/Dkx)

Lisebelisoa

Files

Khatiso ea Schematic & Fabrication

Likoti li bophara ba 2.5mm

LBH

Na boto ee e ka sebelisoa bakeng sa li-LED kapa li-servos feela?
- E ka sebelisoa bakeng sa li-LED hammoho le sesebelisoa leha e le sefe se khonang ho sebetsa ka PWM!
Ke na le mathata a makatsang ha ke kopanya thebe ena le Adafruit LED Matrix/7Seg Backpacks
- Chip ea PCA9865 e na le aterese ea "All Call" ea 0x70. Sena ke tlatsetso ho aterese e lokiselitsoeng. Beha mekotla ho sebetsana le 0x71 kapa eng kapa eng ntle le 0x70 ea kamehla ho etsa hore bothata bo tsamaee.
Ka li-LED, ho tla joang hore ebe ha ke khone ho etsa hore li-LED li tima ka ho feletseng?
- Haeba u batla ho tima li-LED ka ho felletseng (ho Arduino) seta PWM(pin, 0, 4096); ha e behe (pin, 0, 4095);

Litokomane / Lisebelisoa

CNCU PCA9685 Servo Driver i2C Interface [pdf] Litaelo
PCA9685 Servo Driver i2C Interface, PCA9685, Servo Driver i2C Interface, Driver i2C Interface, i2C Interface, Interface

Litšupiso

Bukana ea Mosebelisi

CNCU PCA9685 Servo Driver i2C Interface

Litaelo tsa Tšebeliso ea Sehlahisoa