舵机主函数代码

# 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 , sensor
from servo import Servos
from machine import I2C, Pin

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
#sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((100 ,100))
sensor.set_vflip(True)  #水平竖直翻转
sensor.set_hmirror(True)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking

clock = time.clock()

i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)

while True:
    clock.tick()
    img = sensor.snapshot()
    servo.position(7, 180)
    sensor.skip_frames(time = 1000)
    time.sleep(1000)
    servo.position(7, 90)
    sensor.skip_frames(time = 1000)
    time.sleep(1000)
    print(clock.fps())
    #servo.position(0, 120)
    #time.sleep(1000)
    #servo.position(0, 90)
    #time.sleep(1000)

PCA9685代码

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)