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  • pca9685模块与openmv舵机控制历程报错



    • mian.py

      import time
      from machine import Pin, I2C
      from servo import Servos

      i2c = I2C(sda=Pin(21), scl=Pin(22))#moxing esp32
      #i2c = I2C(sda=Pin('P26'), scl=Pin('P25'))#moxing stm32
      servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)

      while True:
      for i in range(0, 16):
      servo.position(i, 0)
      time.sleep_ms(500)
      for i in range(0, 16):
      servo.position(i, 180)
      time.sleep_ms(500)

      pca9685.py

      import ustruct
      import time

      class PCA9685:
      def init(self, i2c, address=0x40):
      self.i2c = i2c
      self.address = address
      self.reset()

      def _write(self, address, value):
          self.i2c.writeto_mem(self.address, address, bytearray([value]))
      
      def _read(self, address):
          return self.i2c.readfrom_mem(self.address, address, 1)[0]
      
      def reset(self):
          self._write(0x00, 0x00) # Mode1
      
      def freq(self, freq=None):
          if freq is None:
              return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5))
          prescale = int(25000000.0 / 4096.0 / freq + 0.5)
          old_mode = self._read(0x00) # Mode 1
          self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep
          self._write(0xfe, prescale) # Prescale
          self._write(0x00, old_mode) # Mode 1
          time.sleep_us(5)
          self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on
      
      def pwm(self, index, on=None, off=None):
          if on is None or off is None:
              data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4)
              return ustruct.unpack('<HH', data)
          data = ustruct.pack('<HH', on, off)
          self.i2c.writeto_mem(self.address, 0x06 + 4 * index,  data)
      
      def duty(self, index, value=None, invert=False):
          if value is None:
              pwm = self.pwm(index)
              if pwm == (0, 4096):
                  value = 0
              elif pwm == (4096, 0):
                  value = 4095
              value = pwm[1]
              if invert:
                  value = 4095 - value
              return value
          if not 0 <= value <= 4095:
              raise ValueError("Out of range")
          if invert:
              value = 4095 - value
          if value == 0:
              self.pwm(index, 0, 4096)
          elif value == 4095:
              self.pwm(index, 4096, 0)
          else:
              self.pwm(index, 0, value)
      

      servo.py

      import pca9685
      import math

      class Servos:
      def init(self, i2c, address=0x40, freq=50, min_us=600, max_us=2400,
      degrees=180):
      self.period = 1000000 / freq
      self.min_duty = self._us2duty(min_us)
      self.max_duty = self._us2duty(max_us)
      self.degrees = degrees
      self.freq = freq
      self.pca9685 = pca9685.PCA9685(i2c, address)
      self.pca9685.freq(freq)

      def _us2duty(self, value):
          return int(4095 * value / self.period)
      
      def position(self, index, degrees=None, radians=None, us=None, duty=None):
          span = self.max_duty - self.min_duty
          if degrees is not None:
              duty = self.min_duty + span * degrees / self.degrees
          elif radians is not None:
              duty = self.min_duty + span * radians / math.radians(self.degrees)
          elif us is not None:
              duty = self._us2duty(us)
          elif duty is not None:
              pass
          else:
              return self.pca9685.duty(index)
          duty = min(self.max_duty, max(self.min_duty, int(duty)))
          self.pca9685.duty(index, duty)
      
      def release(self, index):
          self.pca9685.duty(index, 0)
      

      这个源码在openmvIDE上运行时报错,请问是什么问题
      错误提示是IOS[Errno 110]ETIMEDOUT



    • @天tad123 注意共地



    • 必须接上pca9685模块才能将程序下载进去吗?



    • 当然..........