树莓派控制舵机

1.安装raspi-config

wheeltec@wheeltec:~$ sudo apt install whiptail parted lua5.1 alsa-utils psmisc

下载并拷贝到树莓派路径安装

下载路径
http://archive.raspberrypi.org/debian/pool/main/r/raspi-config/
安装
wheeltec@wheeltec:~$ sudo dpkg -i raspi-config_20230214_all.deb

2..安装 i2c-tools

sudo apt install i2c-tools

使用sudo raspi-config 使能树莓派I2C功能

3.下载源码

sudo apt-get install git build-essential python-dev
cd ~
git clone https://github.com/adafruit/Adafruit_Python_PCA9685.git
cd Adafruit_Python_PCA9685
sudo python setup.py install

4. 查看I2C地址

wheeltec@wheeltec:~$ sudo i2cdetect -y -a 1
[sudo] password for wheeltec:
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00: 00 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: 40 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
wheeltec@wheeltec:~$

5，修改i2C地址0X40

wheeltec@wheeltec:~/Adafruit_Python_PCA9685/Adafruit_PCA9685$ vi PCA9685.py

6.修改源码

copy simpletest.py 到上层目录

修改文件

# Simple demo of of the PCA9685 PWM servo/LED controller library.
# This will move channel 0 from min to max position repeatedly.
# Author: Tony DiCola
# License: Public Domain
from __future__ import division
import time

# Import the PCA9685 module.
import Adafruit_PCA9685


# Uncomment to enable debug output.
#import logging
#logging.basicConfig(level=logging.DEBUG)

# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685()

# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)

# Configure min and max servo pulse lengths
servo_min = 150  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096

# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)
def set_servo_angle(channel,angle):
    angle=4096*((angle*11)+500)/20000
    pwm.set_pwm(channel,0,int(angle))
# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(50)

print('Moving servo on channel 0, press Ctrl-C to quit...')
#while True:
    # Move servo on channel O between extremes.
    #pwm.set_pwm(0, 0, servo_min)
set_servo_angle(1,0)
time.sleep(1)
    #pwm.set_pwm(0, 0, servo_max)
set_servo_angle(1,270)
time.sleep(1)
set_servo_angle(1,90)
time.sleep(1)

舵机会停在90度  ，使用的是PWM1通道