adafruitss Class Reference

C++ API for Adafruit Servo Shield. More...

Detailed Description

• ID: adafruitss
• Name: Adafruit Servo Shield
• Category: servos
• Manufacturer: adafruit
• Link: http://www.adafruit.com/product/1411
• Connection: i2c

UPM library for the PCA9685 based Adafruit 16-channel servo shield. When 3 or more GWS servos attached results unpredictable. Adafruit do recommend a capacitor be installed on the board which should alleviate the issue. Sizing depends on servos and count.

  upm::adafruitss* servos = new upm::adafruitss(6,0x40);

  for (;;)
  {
    cout << "Setting all to 0" << endl;
    for (n = 0; n < 16; n++)
        servos->servo(n, 1, 0); // GWS Mini Servo = Type 1.
    usleep(1000000); // Wait 1 second

    cout << "Setting all to 45" << endl;
    for (n = 0; n < 16; n++)
        servos->servo(n, 1, 45);
    usleep(1000000); // Wait 1 second

    cout << "Setting all to 90" << endl;
    for (n = 0; n < 16; n++)
        servos->servo(n, 1, 90);
    usleep(1000000); // Wait 1 second

    cout << "Setting all to 135" << endl;
    for (n = 0; n < 16; n++)
        servos->servo(n, 1, 135);
    usleep(1000000); // Wait 1 second

    cout << "Setting all to 180" << endl;
    for (n = 0; n < 16; n++)
        servos->servo(n, 1, 160);
    usleep(2000000); // Wait 1 second
  }

Public Member Functions
	adafruitss (int bus, int i2c_address)
int	update (void)
void	setPWMFreq (float freq)
void	servo (uint8_t port, uint8_t servo_type, uint16_t degrees)

Constructor & Destructor Documentation

adafruitss	(	int	bus,
		int	i2c_address
	)

Creates a adafruitss object

Parameters

bus	number of used i2c bus
i2c_address	address of servo controller on i2c bus

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Member Function Documentation

void setPWMFreq

(

float

freq

)

Sets the frequency for your servos

Parameters

freq	the frequency at which the servos operate

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void servo	(	uint8_t	port,
		uint8_t	servo_type,
		uint16_t	degrees
	)

Moves the one of the servos to the specified angle

Parameters

port	port of the servo on the controller (servo number)
servo_type	can be 0 = standard 1ms to 2ms, 1 = extended 0.6ms to 2.4ms, or 2 = extended 0.8ms to 2.2ms
degrees	angle to set the servo to

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The documentation for this class was generated from the following files:

• /var/lib/jenkins/workspace/upm-doc-stable/src/adafruitss/adafruitss.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/adafruitss/adafruitss.cxx