pca9685驱动舵机程序+实例解析
树莓派舵机扩展板 Servo Driver HAT 用户手册
Servo Driver HAT用户手册前言本产品是基于树莓派而设计的PWM/舵机扩展板，通过PCA9685芯片扩展16路舵机控制或者PWM输出，每个通道12位分辨率。
通过I2C接口控制，无需占用额外的引脚。
板载5V稳压芯片，可接电池供电，最大输出3A电流。
适用于控制机械手臂，以及各种舵机机器人。
产品特性输入电压VIN：6V~12V舵机电压：5V逻辑电压：3.3V驱动芯片：PCA9685控制接口：I2C产品尺寸：65mm x 30mm固定孔通径：3.0mm硬件说明板子可以从树莓派上取电不需要额外供电。
也可以通过右边绿色端子VIN接电池供电，输入电压范围6V~12V。
经过板载的5V稳压芯片输出5V电源给舵机和树莓派供电，最大输出电流3A。
A0~A4可以设置PCA9685芯片的I2C设备地址，可以同时接多个Servo Driver HAT最上面的排针是舵机接口，黑色排针是GND(大部分舵机对应的是褐色线), 红色排针是5V电源，黄色排针是PWM信号线，有0~15个通道，可以同时接16个舵机。
注意舵机线不要接反，否则舵机不会转动。
注意:如果接大功率的舵机可能会出现供电不足的现象，需要接更多的电源使用指南开启I2C接口执行如下命令进行树莓派配置：sudo raspi-config选择Interfacing Options -> I2C ->yes 启动i2C内核驱动注意：运行程序后有提示I2C错误，可以运行如下命令打开配置文件sudo nano /etc/modules如果没有这两行语句则添加上去，并保存退出。
i2c-devi2c-bcm2708运行程序我们提供python2和python3的示例程序，功能包括简单的PCA9685库测试程序，wifi遥控程序以及蓝牙遥控程序。
其中wifi和蓝牙遥控发送端是通过手机APP发送指令,需要安装对应的APP(只支持安卓) 手机下载相应的APP并安装。
0805A舵机系统实例说课讲解
Hale Waihona Puke 船舶辅机第8章 舵机 [Steering Gear]
二、阀控型舵机液压系统(HATLAPA –R4V)
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船舶辅机第8章 舵机 [Steering Gear]
工况选择：
系统图
C1~C4：缸阀(常开) U1~U2：旁通阀(常闭) P1~P4：泵阀(常开)
自动安全切换装置：
两组油缸之间装有自动安全切换装置，可自动 使一对油缸与主泵隔断并彼此旁通，而舵机仍 能继续工作。
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此课件下载可自行编辑修改，仅供参考！ 感谢您的支持，我们努力做得更好！ 谢谢!
0805A舵机系统实例
船舶辅机第8章 舵机 [Steering Gear]
一、泵控型舵机液压系统
请打开“0817 泵控型舵 机.swf ”文件观 看动画(鼠标单 击)
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船舶辅机第8章 舵机 [Steering Gear]
4. 辅油泵的作用 (1)为主油路补油； (2)为主油泵伺服变量机构提供控制油； (3)冷却主泵。
舵机控制中PCA9685控制芯片的运用-航天工程论文-工程论文
舵机控制中PCA9685控制芯片的运用-航天工程论文-工程论文——文章均为WORD文档，下载后可直接编辑使用亦可打印——摘要：文章采用I2C总线通信方式，将PCA9685LED控制芯片应用在舵机控制中。
PCA9685接收主控芯片的指令，通过输出PWM脉冲信号的方式用以控制最多不超过16路舵机或其他输出通道，最终实现了舵机控制的功能。
关键词：I2C总线；PCA9685; PWM; 舵机控制；Abstract：In this paper, the I2 C bus communication mode is adopted, and the PCA9685 LED control chip is applied to the control of the steering gear. The PCA9685 receives the instruction of the main control chip and uses the way of outputting the PWM pulse signal to control the steering gear up to 16 channels or other output channels, and finally realizes the control function of the servo gear.Keyword：I2C bus; PCA9685; PWM; servo control;在自驾仪中，舵机是决定飞机舵面偏转角度的执行机构，一般的无人机需要四个舵机用于控制无人机的俯仰、偏航和滚转，通常由PWM信号进行控制[1]。
PCA9685是一款用于产生16路PWM信号的LED控制芯片，采用I2C总线与主控芯片进行通信[2]。
由于PCA9685具有可以产生16路PWM脉冲、控制精准、编程简单灵活等特点，以其为基础实现的舵机控制能够有限减少硬件和软件设计的复杂度，具有高可靠性[3-4]。
pca控制舵机
pca控制舵机章节一：绪论引言：随着机器人技术的快速发展，舵机在机器手臂、无人机等领域中的应用越来越广泛。
传统的舵机控制方法往往会受到多种因素的影响，如负载变化、电压波动等，导致控制效果不理想。
为了解决这一问题，本文将介绍一种使用主成分分析（PCA）算法来控制舵机的方法。
研究目的：本文旨在利用PCA算法来控制舵机，并通过实验验证其在舵机控制中的有效性和稳定性。
章节二：PCA基本原理与算法2.1 PCA基本原理主成分分析（Principal Component Analysis，PCA）是一种常用的数据降维方法。
其基本思想是通过线性变换将原始数据映射到一个新的空间，使得在新的空间中，数据之间的相关性最小。
2.2 PCA算法PCA算法的主要步骤包括：数据标准化、构建协方差矩阵、求解特征值和特征向量、选择主成分和重构数据。
章节三：PCA舵机控制系统设计3.1 系统框架设计一个基于PCA算法的舵机控制系统，主要包括硬件和软件两个部分。
硬件部分包括舵机、传感器和微控制器等；软件部分包括数据采集、PCA算法实现和舵机角度控制。
3.2 数据采集通过传感器获取舵机角度以及其他相关数据，并进行预处理，包括去噪、滤波等。
3.3 PCA算法实现根据章节二中介绍的PCA算法步骤，编写相应的代码来实现PCA算法，并进行舵机相关的特征提取和降维操作。
3.4 舵机角度控制根据降维后的数据，通过一定的数学模型来控制舵机的角度。
本文采用基于模糊逻辑的控制算法来实现舵机角度的控制。
章节四：实验与结果分析4.1 实验设计设计实验来测试PCA控制舵机系统的效果，并将其与传统的舵机控制方法进行对比。
实验内容包括：舵机角度控制精度、抗干扰能力、响应时间等。
4.2 实验结果分析通过对实验数据的分析，比较PCA控制舵机系统与传统方法的控制效果。
分析结果表明，PCA控制舵机系统具有更好的控制精度和抗干扰能力。
总结：本文通过介绍PCA算法的基本原理和舵机控制系统的设计，验证了PCA在舵机控制中的有效性和稳定性。
此程序为16通道伺服舵机控制程序
此程序为16通道伺服舵机控制程序，使用CodeWizardA VR V1.24.1d编译生成，采用A VR单片机ATmage8515L，晶振频率8MHZ，另有如下几点说明：1.主体电路应该有A VRmega8515L单片机， RS232通讯部件、I2C总线插座、16路伺服舵机控制接口、8MHZ 晶体、A VR-ISP编程下载接口。
2.PB0口的跳线接至高电平时为伺服舵机的实时调试模式，此时应该打开“16通道舵机控制器”软件，并将单片机的串口和电脑的COM1口相连，然后打开单片机通电运行，拖动滑竿，如果舵机能实时跟踪滑块的动作，说明通讯正常。
拖动其他通道的舵机，取好合适的动作值(指令范围0~250)和动作时间(大于120ms 小于5s)后点“添加”即加入了第一条指令，依次可以加入更多的指令；如果哪一条指令有错误，选中它后重新拖动滑竿后点“修改”即可纠正，点“删除”即可删掉这一条指令；也可以打开OFFOCE组件ACCESS2000进行修改。
添加完毕便可运行按“自动播放”进行演示，演示成功可按生成HEX文件，此HEX文件用作24Cxx 的烧入文件。
3.PB0口的跳线接至低电平时伺服舵机的脱机运行模式：前提是在“16通道舵机控制器”软件将各条指令编好后，点“生成文件”（如图3）便可生成压缩数据，然后通过TOP2003编程器把它烧入24CXX系列(这里用的是24C64，8KB的容量) 的E2PROM，将它插入I2C插槽，并将PB0口的跳线接至低电平，接通单片机电源，舵机便可逐条执行刚才做好的指令，指令条数可达2000条。
4.单片机内的程序已经达到控制精度的要求：控制路数-16路，分辨率-0.72°/分度，指令范围0~250,单条指令执行时间-大于120ms小于5s,调速模式-13种,数据压缩率-小于10％注意：由于舵机工作电流较大，使用时应将舵机和单片机分开供电，否则程序容易跑飞。
附：程序主体部分参考于逻辑电子网站公布的3通道舵机控制程序（详细说明可参见），我这里所作的改进只是扩展了通道，以及加入了速度模式控制（由于速度缺乏准确性，这里通过将动作值和动作时间相除去获得运行速度的,后台程序有13种速度模式），它可以控制16路伺服舵机、解决了DIY机器人制作领域（尤其是多关节仿生机器人和带有表演性质的机器人）的基本动作控制要求。
mpu6050控制舵机程序
mpu6050控制舵机程序Chapter 1: Introduction to MPU6050 and Servo Control1.1 BackgroundThe MPU6050 is a popular motion sensor module that combines a 3-axis accelerometer and 3-axis gyroscope. It provides accurate measurements of motion and orientation, making it ideal for applications such as robotics, drones, and motion-based gaming. Additionally, servo motors are widely used in various fields, including robotics and automation, for precise control of angular position. This paper aims to explore the application of theMPU6050 sensor for controlling a servo motor.1.2 ObjectivesThe main objective of this paper is to develop a program that utilizes the MPU6050 sensor to control a servo motor. Specifically, the program will read the sensor data to detect changes in motion and orientation and correspondingly adjust the position of the servo motor. The program will be implemented using Arduino, a popular open-source electronics platform.Chapter 2: MPU6050 and Servo Motor Interface2.1 MPU6050 SensorThe MPU6050 sensor is a 6-DOF (Degrees of Freedom) module that combines a 3-axis accelerometer and 3-axis gyroscope. It communicates with the Arduino board using the I2C serial interface. The sensor provides motion and orientation data in the form of raw sensor values.2.2 Servo MotorA servo motor is a rotary actuator that allows precise control of angular position. It consists of a motor, a control circuit, and a feedback system. Servo motors are widely used in various applications, including robotics and automation. In this paper, a standard servo motor with a rotation range of 0 to 180 degrees will be used.2.3 Interface DesignThe MPU6050 and servo motor will be interfaced with the Arduino board. The sensor's SDA and SCL pins will be connected to the Arduino's I2C pins, while the servo motor's control pin will be connected to one of the Arduino's PWM pins. The Arduino will act as the bridge between the sensor and the servo motor, processing the sensor data and generating appropriate control signals for the servo motor.Chapter 3: Program Implementation3.1 Sensor CalibrationBefore using the sensor, a calibration process is necessary to obtain accurate readings. The program will include a calibration routine that measures the sensor's zero-g offset and sensitivity. This data will be used to compensate for measurement errors and provide accurate motion and orientation information.3.2 Data Reading and ProcessingThe program will continuously read the sensor's raw data, including accelerometer and gyroscope readings. The accelerometer data will be used to detect changes in motion, whilethe gyroscope data will provide information about the orientation. The program will process this sensor data to calculate the desired servo motor position.3.3 Servo Motor ControlBased on the processed sensor data, the program will generate appropriate control signals for the servo motor. The position of the servo motor will be adjusted proportionally to the detected motion and orientation changes. The servo motor position will be converted to the corresponding pulse width modulation (PWM) signal, which will set the desired position of the servo motor.Chapter 4: Experiment and Results4.1 Experimental SetupAn experimental setup will be created to validate the performance of the program. The MPU6050 sensor and the servo motor will be connected to the Arduino board, and the program will be uploaded to the board. Various motion and orientation changes will be induced to observe the corresponding servo motor movement.4.2 Results and AnalysisThe results of the experiment will be analyzed to evaluate the performance of the program in accurately controlling the servo motor based on the MPU6050 sensor data. The accuracy of the servo motor's position and response time will be assessed. Any limitations or improvements will be discussed.4.3 ConclusionIn conclusion, this paper presented a program for controlling aservo motor using the MPU6050 sensor. The implementation and experimental results demonstrate the effectiveness of the programin accurately adjusting the servo motor position based on motion and orientation changes. Further enhancements for real-time applications and other potential improvements will be discussedfor future work.探索宇宙——人类科学的壮举尽管人类在探索宇宙这一任务上还有很长的路要走，但我们已经取得了一些令人瞩目的成就。
pca9685舵机控制板
pca9685舵机控制板Chapter 1: Introduction to PCA9685 Servo Control Board1.1 BackgroundIn recent years, robotics technology has made significant advancements, leading to the development of various robotic applications. One important component used in robotics is the servo motor, which allows for precise control of rotational movement. The PCA9685 servo control board is a popular choice for controlling servo motors due to its simplicity and versatility. 1.2 ObjectiveThe objective of this paper is to provide an in-depth understanding of the PCA9685 servo control board. This includes its working principle, features, and potential applications in robotics and other related fields.Chapter 2: Working Principle of PCA9685 Servo Control Board 2.1 OverviewThe PCA9685 servo control board is a 16-channel, 12-bit pulse width modulation (PWM) controller. It uses the I2C communication protocol to interface with a microcontroller or other control devices.2.2 PWM ControlPWM control is a widely used technique for controlling servo motors. The PCA9685 generates PWM signals with a frequency up to 1.6 kHz, allowing for precise control of servo position and movement. Each channel on the board can be independentlycontrolled, making it suitable for controlling multiple servo motors simultaneously.2.3 Programming and ConfigurationThe PCA9685 servo control board can be easily programmed and configured using the I2C interface. The user can set the output frequency and duty cycle for each channel, allowing for precise control over servo movement. Additionally, the board provides features such as sleep mode and software reset, offering flexibility and convenience in operation.Chapter 3: Features of PCA9685 Servo Control Board3.1 High ResolutionThe PCA9685 servo control board provides a 12-bit resolution for generating PWM signals, resulting in smooth and accurate servo movement. This high resolution allows for precise positioning and control of servo motors, making it suitable for applications that require fine-tuned movement.3.2 Multiple ChannelsWith 16 independent channels, the PCA9685 servo control board offers the capability to control multiple servo motors simultaneously. This feature is particularly useful in robotics and automation projects that require coordination of multiple actuators.3.3 I2C InterfaceThe PCA9685 servo control board utilizes the I2C communication protocol, providing a convenient way to interface with microcontrollers and other control devices. This communicationprotocol allows for easy integration into existing systems and simplifies the control of servo motors.Chapter 4: Applications of PCA9685 Servo Control Board4.1 RoboticsThe PCA9685 servo control board is widely used in robotics applications. It can be used to control the movement of robot arms, legs, and other mechanical components. The high resolution and multiple channels offered by the board enable precise and coordinated motion, making it an ideal choice for robotics projects.4.2 RC VehiclesThe PCA9685 servo control board can also be used in remote control (RC) vehicles, such as cars, boats, and drones. It allows for precise control of steering and other movements, enhancing the overall performance and maneuverability of the vehicle.4.3 Home AutomationThe PCA9685 servo control board can be incorporated into home automation systems to control various devices, such as window blinds, lighting fixtures, and home appliances. Its high resolution and multiple channels provide the flexibility to control multiple devices simultaneously, improving convenience and energy efficiency.In conclusion, the PCA9685 servo control board is a versatile and powerful tool for controlling servo motors. Its high resolution, multiple channels, and easy programmability make it suitable for a wide range of applications in robotics, RC vehicles, and homeautomation. With further development and integration, this control board has the potential to drive advancements in various fields requiring precise servo motor control.Chapter 5: Limitations of PCA9685 Servo Control Board5.1 Voltage LimitationThe PCA9685 servo control board has a voltage limitation of 3.3V, which means the input voltage should not exceed 3.3V. This can be a limitation in applications that require higher voltage levels for servo motor control.5.2 Limited Current per ChannelEach channel on the PCA9685 servo control board has a current rating of 25mA. While this is sufficient for most servo motors, it can be a limitation in applications that require high-power servos or multiple servos drawing a significant amount of current.5.3 Limited Frequency RangeThe PCA9685 servo control board has a frequency range of up to 1.6 kHz. While this frequency range is suitable for most servo motors, some high-speed or specialized servos may require a higher frequency for optimal performance.Chapter 6: Tips for Using PCA9685 Servo Control Board6.1 Power Supply ConsiderationsTo ensure optimal performance and prevent damage to thePCA9685 servo control board, it is important to provide a stable and sufficient power supply. It is recommended to use an external power supply that meets the voltage and current requirements ofthe servo motors being used.6.2 Proper Servo CalibrationBefore using the PCA9685 servo control board, it is essential to properly calibrate the servo motors. This involves setting the correct pulse width range and neutral position for each servo motor to ensure accurate control and movement.6.3 Signal Interference PreventionSince the PCA9685 servo control board uses the I2C communication protocol, it is important to minimize signal interference. This can be achieved by ensuring proper grounding, using shielded cables, and minimizing the distance between the control board and the microcontroller or control device.Chapter 7: Future Developments and Trends7.1 Integration with Artificial IntelligenceOne potential future development for the PCA9685 servo control board is integrating it with artificial intelligence (AI) technology. This would enable the control board to learn and adapt to various movements and scenarios, allowing for more intelligent and autonomous control of servo motors.7.2 Wireless ConnectivityAnother trend in control board technology is the integration of wireless connectivity. Implementing wireless connectivity in the PCA9685 servo control board would enable remote control and monitoring of servo motors, making it more convenient and flexible for various applications.7.3 Improved Power ManagementEfficient power management is a crucial aspect of servo motor control. Future developments of the PCA9685 servo control board could focus on implementing advanced power management techniques to optimize energy consumption and extend battery life in applications that rely on battery power.In conclusion, the PCA9685 servo control board is a powerful and versatile tool for controlling servo motors. While it has some limitations, its high resolution, multiple channels, and easy programmability make it suitable for a wide range of applications in robotics, RC vehicles, and home automation. With ongoing developments and integration of new technologies, the PCA9685 servo control board is expected to keep evolving and driving advancements in servo motor control.。
舵机控制板使用说明V3torobot
舵机控制板使用说明V3.3规格参数1. 舵机电源和控制板电源分开，独立供电2. 控制通道：同时控制32 路。
（舵机速度可调）3. 通讯输入：USB 或者串口（TTL）4. 信号输出：PWM（精度0.5us）。
5. 舵机驱动分辨率：0.5us , 0.045 度。
6. 波特率范围：9600 19200 38400 57600 115200 128000。
7. 支持的舵机： Futaba 、 Hitec 、辉盛、春天，等市面上 98%以上的舵机8. PCB 尺寸:63.5mm×43.5mm。
9. 安装孔间距：55*35.5mm。
10.存储空间：板载16M U 盘。
1）供电说明本模块电源部分是分离设计的，控制板电源和舵机电源是分开供电的，这样不会相互干扰。
a）控制板电源VSSUSB 接口和蓝色端子中的 VSS 和 GND 都可以给控制板供电，两者任选一种即可。
（VSS 的供电范围是 6.5-12V）b）舵机电源VS舵机的供电情况是根据使用的舵机而定，可以查阅舵机的相关参数，若你不了解，可以使用5V 供电。
VS输入多少付电压，给舵机的就是多少付的电压，所以必须严格匹配舵机的电压参数舵机电源输入接口为蓝色接线端子中的 VS 和 GND。
（控制板电源和舵机电源中的GND 是共用的）常规舵机的电压参数MG995、MG996 供电电压为 4.8-6.8V TR213、TR223、1501MG 供电电压为 4.8-7V TR227 供电电压 4.8-7.2V未知舵机，请给 5V 供电（标准舵机 99%都可以用 5V 供电）如果供电电压超过舵机的范围，有可能造成舵机烧坏，或者烧坏舵机控制板。
请用户谨慎操作，查看舵机的相关参数。
舵机电源的其他说明请看 11 页。
2）安装驱动驱动下载地址：/down/usc_driver.exe (全部小写)直接双击 USC_driver.exe ，点击下一步即可安装驱动。
驱动安装过程中如果出现下面的提示，请选择“始终安装此驱动程序软件”。
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pca9685 驱动舵机程序+实例解析概述
这是一个采用i2c 通信，内置了PWM 驱动器和一个时钟。
这意味着，这将和TLC5940 系列有很大不同。
你不需要不断发送信号占用你的单片机！
它是5V 的兼容，这意味着你还可以用3.3V 单片机控制并且安全地驱动到6V 输出（当你想控制白色或蓝色指示灯用3.4+正电压也是可以的）
6 地址选择引脚使你可以把62 个驱动板挂在单个i2c 总线上，总共有992 路PWM 输出。
那将是非常庞大的资源。
约1.6Khz 可调频PWM 输出
为步进电机准备输出12 位分辨率，这意味着在60Hz 的更新率能够达到4us 分辨率。