Control 16 Servo motor using PCA9685 Module and Arduino V2 Sketch #3 All Servos together

Project Video
Project Details

In this video we learn how to control 16 Sermo motors using PCA9685 PWM conroller with I2C

Project Code

 * Original sourse:
 * This is the Arduino code PAC6985 16 channel servo controller
 * watch the video for details (V1) and demo
 *  This code is #3 for V2 Video Watch the video :
 *  I have got 3 codes as follow:
   #1-Arduino Code to run one by one all servos from 0 to 180°   
   #2-Arduino Code to control specific servos with specific angle
   #3-Arduino Code to run 2 or all servos at together
 * Written/updated by Ahmad Shamshiri for Robojax Video channel
 * Date: Dec 16, 2017, in Ajax, Ontario, Canada
 * Permission granted to share this code given that this
 * note is kept with the code.
  * Watch video for this code: 
 * Related Videos
V5 video of PCA9685 32 Servo with ESP32 with WiFi
V4 video of PCA9685 32 Servo with ESP32 (no WiFi):
V3 video of PCA9685 how to control 32 Servo motors
V2 Video of PCA9685 3 different ways to control Servo motors:
V1 Video introduction to PCA9685 to control 16 Servo

 * Disclaimer: this code is "AS IS" and for educational purpose only.
 * this code has been downloaded from
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 *  * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
 * This code has been download from
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see .

// 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!
// Watch video V1 to understand the two lines below:
#define SERVOMIN  125 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  575 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
uint8_t servonum = 0;

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

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


// the code inside loop() has been updated by Robojax
void loop() {

    //watch video for details:
    for( int angle =0; angle<181; angle +=10){
      for(int i=0; i<16; i++)
          pwm.setPWM(i, 0, angleToPulse(angle) );

// robojax PCA9865 16 channel Servo control

 * angleToPulse(int ang)
 * gets angle in degree and returns the pulse width
 * also prints the value on seial monitor
 * written by Ahmad Shamshiri for Robojax,
int angleToPulse(int ang){
   int pulse = map(ang,0, 180, SERVOMIN,SERVOMAX);// map angle of 0 to 180 to Servo min and Servo max 
   Serial.print("Angle: ");Serial.print(ang);
   Serial.print(" pulse: ");Serial.println(pulse);
   return pulse;

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