MG955 Control using PCA9685

Multiple Servo Control Code: [CONNECTIVITY TEST]

The code provided below runs every single servo connected to the PCA9685 one at a time through a specified angle range
Some prerequisites to running this code is the installation of the <Adafruit_PWMServoDriver.h> header file, click here to download the <Adafruit_PWMServoDriver.h> header file 

                
                    #include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();


// IMPORTANT: Please change the Min and Max value of the servo accordingly 
#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.begin(9600);
    Serial.println("16 channel Servo test");

    pwm.begin();

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

    /*
    Remove the comment below if the processes need more time to execute 
    */
    // yield();
}


void loop()
{
    // declaration and initialization 
    /*
    for any changes to the number of servos needed to be tested please
    alter the 
    1. number_of_servo_motors: [indexed servo motor numbers]
    2. angle_start: servo initial position
    3. angle_end: servo final position
    */
    int number_of_servo_motors = 16;
    int angle_start = 0; 
    int angle_end = 180;

    // loop to iterate through all the servos
    for (int i = 0; i < number_of_servo_motors; i++)
    {
        for (int angle = angle_start; angle <= angle_end; angle += 10)
        {
            delay(50);
            pwm.setPWM(i, 0, angleToPulse(angle));
        }
    }

    // wait for 1 second
    delay(1000); 
}

/*
/* angleToPulse(int ang)
 * @brief gets angle in degree and returns the pulse width
 * @param "ang" is integer representing angle from 0 to 180
 * @return returns integer pulse width
 * Usage to use 65 degree: angleToPulse(65);
 */

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;
}

Single Servo Control Code [CONNECTIVITY TEST]: 

                
                    #include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

// IMPORTANT: Please change the Min and Max value of the servo accordingly 
#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.begin(9600);
    Serial.println("16 channel Servo test!");

    pwm.begin();

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

    /*
    Remove the comment below if the processes need more time to execute 
    */
    // yield();
}

/**
 * @brief: gets theta in degrees and rotates the servo to the specified angle
 * @details: pwm.setPWM(servo_number, 0, pulse)
 */
void loop()
{
    /*
    PENDING: Declaration and Initialization of 
    1. servo_index
    2. theta
     */
    pwm.setPWM(servo_index, 0, angleToPulse(theta));
    delay(1000); 
}

/**
 * angleToPulse(int ang)
 * @brief gets angle in degree and returns the pulse width
 * @param "ang" is integer representing angle from 0 to 180
 * @return returns integer pulse width
 * Usage to use 65 degree: angleToPulse(65);
 */

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;
}