jetson nano使用PCA9685驱动舵机

首先开启 I2C
因为默认 I2C 是关闭，需要通过下列步骤开启 I2C

打开 /etc/modprobe.d/blacklist.conf 文件，注释掉 blacklist i2c_i801：
# lacklist i2c_i801

打开 /etc/modules 文件，在最后面加入以下代码：
i2c-dev

sudo reboot 重启jetson nano

方法一（这个方法用python3.7以下会报错）：
1.导入smbus模块：sudo apt-get install python-smbus
2.导入i2c库：sudo apt-get install i2c-tools
3.导入adafruit库： sudo pip3 install adafruit-circuitpython-servokit（这个有时候装不上，我装了好多次才行，不会装的可以用方法二）

4.硬件接线：
SCL ——接Nano 引脚第5脚(GEN2_I2C_SCL)
SDA ——接Nano 引脚第3脚(GEN2_I2C_SDA)
nano与驱动板接好电源，电机与驱动板的线也接好.

查看i2c设备：

sudo i2cdetect -y -r 1

5.python程序：
import time #引入time库
from adafruit_servokit import ServoKit #引入PCA9685库

kit = ServoKit(channels=16) #明确PCA9685的舵机控制数
kit.servo[0].angle = 24 #通道0上的舵机正转。
time.sleep(1) #休眠一秒
kit.servo[8].angle = 24 #通道8上的舵机正转。

方法二：
sudo apt-get install python-smbus 装一下库
直接在记事本里面写入以下代码，然后用python打开

import time
import math
import smbus

pwm=PCA9685(0x40)
pwm.setPWMFreq(50)

class PCA9685:
    # Registers/etc.
    __SUBADR1 = 0x02
    __SUBADR2 = 0x03
    __SUBADR3 = 0x04
    __MODE1 = 0x00
    __PRESCALE = 0xFE
    __LED0_ON_L = 0x06
    __LED0_ON_H = 0x07
    __LED0_OFF_L = 0x08
    __LED0_OFF_H = 0x09
    __ALLLED_ON_L = 0xFA
    __ALLLED_ON_H = 0xFB
    __ALLLED_OFF_L = 0xFC
    __ALLLED_OFF_H = 0xFD

    def __init__(self, address=0x40, debug=False):
        self.bus = smbus.SMBus(1)
        self.address = address
        self.debug = debug
        if (self.debug):
            print("Reseting PCA9685")
        self.write(self.__MODE1, 0x00)

    def write(self, reg, value):
        "Writes an 8-bit value to the specified register/address"
        self.bus.write_byte_data(self.address, reg, value)
        if (self.debug):
            # print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))
            pass
    def read(self, reg):
        "Read an unsigned byte from the I2C device"
        result = self.bus.read_byte_data(self.address, reg)
        if (self.debug):
            print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" % (self.address, result & 0xFF, reg))
        return result

    def setPWMFreq(self, freq):
        "Sets the PWM frequency"
        prescaleval = 25000000.0  # 25MHz
        prescaleval /= 4096.0  # 12-bit
        prescaleval /= float(freq)
        prescaleval -= 1.0
        if (self.debug):
            print("Setting PWM frequency to %d Hz" % freq)
            print("Estimated pre-scale: %d" % prescaleval)
        prescale = math.floor(prescaleval + 0.5)
        if (self.debug):
            print("Final pre-scale: %d" % prescale)

        oldmode = self.read(self.__MODE1)
        newmode = (oldmode & 0x7F) | 0x10  # sleep
        self.write(self.__MODE1, newmode)  # go to sleep
        self.write(self.__PRESCALE, int(math.floor(prescale)))
        self.write(self.__MODE1, oldmode)
        time.sleep(0.005)
        self.write(self.__MODE1, oldmode | 0x80)

    def setPWM(self, channel, on, off):
        "Sets a single PWM channel"
        self.write(self.__LED0_ON_L + 4 * channel, on & 0xFF)
        self.write(self.__LED0_ON_H + 4 * channel, on >> 8)
        self.write(self.__LED0_OFF_L + 4 * channel, off & 0xFF)
        self.write(self.__LED0_OFF_H + 4 * channel, off >> 8)
        if (self.debug):
            # print("channel: %d  LED_ON: %d LED_OFF: %d" % (channel, on, off))
            pass

    def setServoPulse(self, channel, pulse):
        "Sets the Servo Pulse,The PWM frequency must be 50HZ"
        pulse = int(pulse * 4096 / 20000)  # PWM frequency is 50HZ,the period is 20000us
        self.setPWM(channel, 0, pulse)


    def setMotoPluse(self, channel, pulse):
        if pulse > 3000:
            self.setPWM(channel, 0, 3000)
        else:
            self.setPWM(channel, 0, pulse)

if __name__ == '__main__':

    pwm = PCA9685(0x40, debug=True)
    pwm.setPWMFreq(50)
    print("start the control")
    while True:
        for i in range(500, 2500, 10):
            pwm.setServoPulse(8, i)
            pwm.setServoPulse(3, i)   //控制通道3和通道8的电机

            time.sleep(0.02)

感谢这几篇文章的分享：
Dofbot Jetson nano】学习过程分享3
Jetson nano使用PCA9685驱动舵机
Jetson nano驱动舵机（非常简单！）