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使用PCA9685模块和Arduino V3控制32个伺服电机草图#1：所有伺服电机一起运行

Video thumbnail for Controlling 32 Servo Using PCA9685 and Arduino: V3 - RJT249
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使用PCA9685模块和Arduino V3控制32个伺服电机草图#1：所有伺服电机一起运行

在本教程中，我们将学习如何通过连接到Arduino的两个PCA9685 PWM驱动模块控制32个伺服电机。PCA9685是一个多功能模块，允许通过I2C通信轻松控制多个伺服电机。在本项目结束时，您将能够通过简单的设置使所有32个伺服电机协调运动。

PCA9685 module-0

我们还将实现一个按钮，可以同时开启或关闭所有伺服电机。这个功能增加了一层额外的控制，使项目更加互动。为了直观理解设置和代码，请务必查看伴随的视频（视频在00:00处）。

硬件解析

本项目的关键组件是PCA9685模块，它提供16个PWM信号通道。该模块使用I2C通信，SDA和SCL引脚负责数据传输。每个PCA9685可以控制最多16个舵机，但通过级联两个模块，我们可以同时控制32个舵机。

Arduino作为控制器，向PCA9685模块发送命令。每个伺服电机将连接到PCA9685的一个输出引脚，从而实现对其位置的精确控制。适当的外部电源供应至关重要，因为伺服电机可能会消耗大量电流。

数据表详细信息

制造商 Adafruit
零件编号 PCA9685
逻辑/IO 电压 3.3 V 到 5.5 V
供电电压 5 V（伺服电机外部电源）
输出电流（每通道） 约20毫安
峰值电流（每通道） 约25毫安
PWM频率指导 40赫兹到1000赫兹
输入逻辑阈值 0.3伏（低），0.7伏（高）
电压降 / RDS(on)/ 饱和度 ~0.5 伏
热极限 操作温度：-40°C至+85°C
包裹 16-pin TSSOP
备注 / 变体 可以将多个电路板串联以扩展控制。

  • 确保适当的电源供给，以避免伺服电机失速。
  • 为舵机使用外部电源；Arduino无法提供足够的电流。
  • 将PCA9685的接地连接到Arduino的接地。
  • 保持OE引脚接地以启用模块。
  • 请注意每个模块的I2C地址；第一个模块的默认地址为0x40，第二个模块的默认地址为0x41。

接线说明

Arduino wiring for PCA9685 to control 32 servo motor

要连接PCA9685模块和舵机，首先连接电源和接地。将PCA9685上的VCC引脚连接到Arduino的5V引脚，将接地引脚连接到Arduino的GND。对于舵机电源，使用连接到PCA9685上V+引脚的外部电源。

接下来，将PCA9685模块的SDA和SCL引脚分别连接到Arduino的A4和A5引脚。如果您使用多个PCA9685模块，请将它们串联连接。确保OE引脚接地以启用输出。最后，将每个伺服电机的信号线连接到PCA9685上相应的PWM输出引脚（第一个模块为0-15，第二个模块为16-31）。

连接两个PCA9685板

如上图所示，您必须对板子 2 上显示的引脚进行焊接，并且它们必须与板子 1 不同。这样我们将拥有不同的 I2C 地址，您就可以控制该板。

代码示例与教程

让我们来看看初始化PCA9685模块的代码设置部分。在这里，我们为每个板定义地址：

Adafruit_PWMServoDriver board1 = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver board2 = Adafruit_PWMServoDriver(0x41);

在这一段中，我们为两个板子创建 PCA9685 驱动程序的实例，指定它们的 I2C 地址。这一设置对于确保我们的 Arduino 能够与两个模块进行通信至关重要。

Thesetup()功能初始化电路板并设置PWM频率：

void setup() {
  Serial.begin(9600);
  board1.begin();
  board2.begin();  
  board1.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
  board2.setPWMFreq(60);
}

在这里，我们开始串行通信，并将两个板设置为以60赫兹的频率运行，这对于大多数伺服电机来说是标准的。这确保了在控制伺服电机时操作平稳。

接下来，让我们看一下控制逻辑。loop()功能：

for(int angle = 0; angle < 181; angle += 10) {
  for(int i = 0; i < 16; i++) {      
    board1.setPWM(i, 0, angleToPulse(angle));
    board2.setPWM(i, 0, angleToPulse(angle));
  }
}

这个循环将角度从0增加到180度，步长为10。对于每个角度，它为两个电路板上的所有伺服器设置PWM信号，使它们能够从0到180度并返回同步移动。angleToPulse()该函数将角度转换为伺服电机的相应脉宽。

演示 / 期待什么

一旦所有线路连接完毕并且代码上传成功，您应该会看到所有32个伺服电机一起运动，平滑地通过角度。如果您按下按钮，它将切换所有伺服电机的状态在开启和关闭之间（在视频中见00:00）。请注意极性反转，并确保您的伺服电机能够承受所提供的电流，以避免过热。

视频时间戳

  • 00:00 开始
  • 01:18 介绍
  • 04:30 准备模块
  • 07:56 接线解释
  • 10:25 功率要求
  • 11:33 代码解释
  • 19:54 代码 2 解释（每个板上 8 个伺服器在一起）
  • 20:40 演示8个伺服控制一起
  • 21:55 演示 所有32个伺服一起移动
  • 22:28 按钮的代码解释
  • 24:43 按钮接线说明
  • 25:12 按钮开关使用演示

图像

PCA9685 module-0
PCA9685 module-0
PCA9685 module-1
PCA9685 module-1
PCA9685 module-2
PCA9685 module-2
PCA9685 module-3
PCA9685 module-3
PCA9685 module
PCA9685 module
Arduino wiring for PCA9685 to control 32 servo motor
Arduino wiring for PCA9685 to control 32 servo motor
Connecting two PCA9685 board
Connecting two PCA9685 board

本教程是……的一部分: 使用 PCA9685 控制 16 或 32 伺服电机

如果代码不可见，请查看该页面的英文版。对此造成的不便我们深表歉意。
877-new- PCA9685 Video V3, Arduino Code-1 : Using 2 PCA9685 boards and Controlling 32 servo motors
语言: C++
/*
 * Original source: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * 
 * This is the Arduino code to use two PCA6985 boards and control 32 servo motor
 * 
 * This is V3 Video on PCA9685: https://youtu.be/6P21wG7N6t4
 *  get this code and wiring from for this video:  http://robojax.com/RJT249
to learn better: watch the video for details (V1) and demo http://youtu.be/y8X9X10Tn1k

   
 * Written/updated by Ahmad Shamshiri for Robojax Video channel www.Robojax.com
 * Date: Dec 15, 2019, in Ajax, Ontario, Canada

 * 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
 * Disclaimer: this code is "AS IS" and for educational purpose only.


or make donation using PayPal http://robojax.com/L/?id=64

 *  * 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
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    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 board1 = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver board2 = 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)


int servoNumber = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  board1.begin();
  board2.begin();  
  board1.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
  board2.setPWMFreq(60);
  //yield();
}

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


    for( int angle =0; angle<181; angle +=10){
      for(int i=0; i<16; i++)
        {      
            board2.setPWM(i, 0, angleToPulse(angle) );
            board1.setPWM(i, 0, angleToPulse(angle) );
        }
    }
  
// robojax PCA9865 16 channel Servo control
  delay(100);
 
}

/*
 * angleToPulse(int ang)
 * gets angle in degree and returns the pulse width
 * also prints the value on seial monitor
 * written by Ahmad Nejrabi 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;
}
878-new- PCA9685 Video V3, Arduino Code-2 : Using 2 PCA9685 boards and 3 servo in each boards
语言: C++
/*
 * Original source: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * 
 * This is the Arduino code for two PAC6985 board to control 16 servo on each board
 * total 32 servos using I2C communication
 * get this code and wiring from for this video (V3):  http://robojax.com/RJT249


 watch the video for details (V2) and demo https://youtu.be/6P21wG7N6t4

 * watch the video for details (V1) and demo http://youtu.be/y8X9X10Tn1k
 
 *  This code is #3 for V2 Video Watch the video :
 *  I have got 3 codes as follow:https://youtu.be/bal2STaoQ1M
 *  
   #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/ 

or make donation using PayPal http://robojax.com/L/?id=64

 *  * 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
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    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 board1 = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver board2 = 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)


int servoNumber = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  board1.begin();
  board2.begin();  
  board1.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
  board2.setPWMFreq(60);
  //yield();
}

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


    for( int angle =0; angle<181; angle +=10){
      for(int i=0; i<8; i++)
        {      
            board2.setPWM(i, 0, angleToPulse(angle) );
            board1.setPWM(i, 0, angleToPulse(angle) );
        }
    }


    for( int angle =0; angle<181; angle +=30){
      for(int i=8; i<16; i++)
        {      
            board2.setPWM(i, 0, angleToPulse(angle) );
            board1.setPWM(i, 0, angleToPulse(angle) );
        }
    }  
// robojax PCA9865 16 channel Servo control
  delay(100);
 
}

/*
 * angleToPulse(int ang)
 * gets angle in degree and returns the pulse width
 * also prints the value on serial 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;
}
879-new- PCA9685 Video V3, Arduino Code-3 : Using 2 PCA9685 boards to control using push button
语言: C++
 /* Original source: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * 
 * This is the Arduino code for two PAC6985 board  and push button

 * total 32 servos using I2C communication
 * get this code and wiring from for this video (V3):  http://robojax.com/RJT249



 * watch the video for details (V1) and demo http://youtu.be/y8X9X10Tn1k
 *  This code is #3 for V2 Video Watch the video :
 *  I have got 3 codes as follow:https://youtu.be/bal2STaoQ1M
 *  
   #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 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
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    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 board1 = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver board2 = 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)

#define PUSH_BUTTON_PIN 2
#define OE_PIN 8

int boardState= LOW;
int showDebug=0;
int angle = 0;
int angleStep =10;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  board1.begin();
  board2.begin();  
  board1.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
  board2.setPWMFreq(60);

  pinMode(PUSH_BUTTON_PIN,INPUT_PULLUP);
  pinMode(OE_PIN, OUTPUT);
  digitalWrite(OE_PIN,LOW);//turn module ON
  
}

// the code inside loop() has been updated by Robojax
void loop() {
   if(digitalRead(PUSH_BUTTON_PIN) == LOW)
   {
    boardState = 1-boardState;
    Serial.println("push button pressed");
    delay(200); // give the finger time
   } 
 digitalWrite(OE_PIN, boardState);  
    for( int angle =0; angle<181; angle +=angleStep){
      delay(50);
      for(int i=0; i<16; i++)
        {      
          board1.setPWM(i, 0, angleToPulse(angle) );
          board2.setPWM(i, 0, angleToPulse(angle) );
        }
    }  

// robojax PCA9865 16 channel Servo control
  delay(100);
 
}

/*
 * angleToPulse(int ang)
 * gets angle in degree and returns the pulse width
 * also prints the value on serial 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 
  if(showDebug)
  {
   Serial.print("Angle: ");Serial.print(ang);
   Serial.print(" pulse: ");Serial.println(pulse);
  }
   return pulse;
}

/*
 * updateState()
 * @brief reads push buttons and updates values
 * @param none
 * @return no return
 * Written by Ahmad Shamshiri for robojax.com
 * on Nov 01, 2019 at 18:10 in Ajax, Ontario, Canada
 */
void updateState()
{
   if(digitalRead(PUSH_BUTTON_PIN) == LOW)
   {
    boardState = 1-boardState;
    Serial.println("push button pressed");
    delay(200); // give the finger time
   }
   digitalWrite(OE_PIN, boardState);
}//updateState end

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