Other Arduino Codes and Videos by Robojax

Control 16 Servo motor using PCA9685 Module and Arduino V2 Sketch #2 Individual servo Control

Control 16 Servo motor using PCA9685 Module and Arduino V2 Sketch #2 Individual servo Control

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

We have 3 sketches for this Tutorial

Other Videos on PCA9685

-V1 Video and code on PCA9685 (introduction and calibration)
-V2-1 Video and code on PCA9685 Servo Control ONE-By-ONE
-V2-2 Video and code on PCA9685
-V2-3 Video and code on PCA9685
-V3 Contro 32 Servo Motor with PCA9685 and Arduino
-V4 Video and code on PCA9685 32 Servo with ESP32

Resources for this sketch

Code #2: Arduino Code to control specific servos with specific angle (one or more servo)

Thic code shows how to control specific servo motor for example if you want servo #3 to go to 120: pwm.setPWM(3, 0, angleToPulse(120) );
Servos are numbered from 0 to 15.

 * Original sourse: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * This is the Arduino code PAC6985 16 channel servo controller
 * watch the video for details (V1) and demo http://youtu.be/y8X9X10Tn1k
 *  This code is #2 for V2 Video Watch the video :https://youtu.be/bal2STaoQ1M
 *  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 www.Robojax.com
 * Date: Dec 16, 2017, in Ajax, Ontario, Canada
 * Permission granted to share this code given that this
 * note is kept with the code.
 * Disclaimer: this code is "AS IS" and for educational purpose only.
 * this code has been downloaded from http://robojax.com/learn/arduino/

 * Watch video for this code: 
 * Related Videos
V5 video of PCA9685 32 Servo with ESP32 with WiFi https://youtu.be/bvqfv-FrrLM
V4 video of PCA9685 32 Servo with ESP32 (no WiFi): https://youtu.be/JFdXB8Za5Os
V3 video of PCA9685 how to control 32 Servo motors https://youtu.be/6P21wG7N6t4
V2 Video of PCA9685 3 different ways to control Servo motors: https://youtu.be/bal2STaoQ1M
V1 Video introduction to PCA9685 to control 16 Servo  https://youtu.be/y8X9X10Tn1k
 * Get this code and other Arduino codes from Robojax.com
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all in once place. Purchase My course on Udemy.com http://robojax.com/L/?id=62

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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 Robojax.com
    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 <https://www.gnu.org/licenses/>.
#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!
// Watch video V1 to understand the two lines below: http://youtu.be/y8X9X10Tn1k
#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: https://youtu.be/bal2STaoQ1M
for(int i=0; i<16; i++)
    for( int angle =0; angle<181; angle +=10){
        pwm.setPWM(5, 0, angleToPulse(angle) );
        pwm.setPWM(8, 0, angleToPulse(angle) ); 
        pwm.setPWM(15, 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, Robojax.com
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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