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  • 有关于PCA9685的问题



    • 为什么我按照官网上的例程复制的代码在控制舵机时一直会报错?
      下面第一段是报错提示

      Traceback (most recent call last):
        File "<stdin>", line 10, in <module>
        File "servo.py", line 10, in __init__
        File "pca9685.py", line 17, in __init__
        File "pca9685.py", line 35, in reset
        File "pca9685.py", line 23, in _write
      OSError: [Errno 110] ETIMEDOUT
      MicroPython v1.9.4-4548-g24c934f79 on 2019-03-23; OPENMV4 with STM32H743
      Type "help()" for more information.
      >>> 
      

      以下是官网复制的例程

      import utime
      
      import ustruct
      
      
      
      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
      
              utime.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)
      
      


    • 应该是没有插好。
      按照视频步骤操作。https://singtown.com/learn/50057/