运行示例程序Servo-shield程序时，报错OSError:[Error 110]ETIMEDOUT

[一路漫歌]

OpenMV已经与PCA9685硬件连接，运行Servo-shield程序时，但是会报错OSError:[Error 110]ETIMEDOUT，该如何解决

mian.py

# Servo Shield Example.
#
# This example demonstrates the servo shield. Please follow these steps:
#
#   1. Connect a servo to any PWM output.
#   2. Connect a 3.7v battery (or 5V source) to VIN and GND.
#   3. Copy pca9685.py and servo.py to OpenMV and reset it.
#   4. Connect and run this script in the IDE.

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

i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
servo = Servos(i2c, address=0x40, freq=50, min_us=650, max_us=2800, degrees=180)

while True:
    for i in range(0, 8):
        servo.position(i, 0)
    time.sleep(500)
    for i in range(0, 8):
        servo.position(i, 180)
    time.sleep(500)

PCA9685.py

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)
	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)
		self._write(0x00, (old_mode & 0x7F) | 0x10)
		self._write(0xfe, prescale)
		self._write(0x00, old_mode)
		utime.sleep_us(5)
		self._write(0x00, old_mode | 0xa1)
	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)

[kidswong999]

• 可能没连接好
• 可能硬件不对

[一路漫歌]

@kidswong999我开始怀疑你们这个程序有问题，这个程序没有问题是吗？你们测试过这个程序吗？

[kidswong999]

PCA9685的模块是不一样的。

它是可以配置I2C地址的。

如果不是官方的配套扩展板。

你可以i2c.scan()看一下地址

[一路漫歌]

@kidswong999 我已经扫描地址了，但是返回的结果的是空的，我是不是哪里写错了

[hugh]

注意openmv要和pca965共地