58 lines
1.3 KiB
C++
58 lines
1.3 KiB
C++
/*
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Provided to you by Emlid Ltd (c) 2014.
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twitter.com/emlidtech || www.emlid.com || info@emlid.com
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Example: Control servos connected to PCA9685 driver onboard of Navio shield for Raspberry Pi.
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Connect servo to Navio's rc output and watch it work.
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Output 1 on board is connected to PCA9685 channel 3, output 2 to channel 4 and so on.
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To use full range of your servo correct SERVO_MIN and SERVO_MAX according to it's specification.
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To run this example navigate to the directory containing it and run following commands:
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make
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./Servo
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*/
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#define NAVIO_RCOUTPUT_1 3
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#define SERVO_MIN 1.250 /*mS*/
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#define SERVO_MAX 1.750 /*mS*/
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#include <darkwater/gpio.h>
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#include "darkwater/PCA9685.h"
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#include "darkwater/Util.h"
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using namespace Navio;
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int main()
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{
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static const uint8_t outputEnablePin = RPI_GPIO_27;
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if (check_apm()) {
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return 1;
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}
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Pin pin(outputEnablePin);
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if (pin.init()) {
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pin.setMode(Pin::GpioModeOutput);
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pin.write(0); /* drive Output Enable low */
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} else {
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fprintf(stderr, "Output Enable not set. Are you root?\n");
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return 1;
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}
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PCA9685 pwm;
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pwm.initialize();
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pwm.setFrequency(50);
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while (true) {
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pwm.setPWMmS(NAVIO_RCOUTPUT_1, SERVO_MIN);
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sleep(1);
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pwm.setPWMmS(NAVIO_RCOUTPUT_1, SERVO_MAX);
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sleep(1);
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}
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return 0;
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}
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