In Servo We Trust!

1#include "Arduino.h"
2#include <Wire.h>
3#include <Adafruit_PWMServoDriver.h>
4
5//numbering  works in binary. Check here if you get confused http://www.allspectrum.com/store/all-spectrum-electronics-binary-decimal-hex-reference-card-free-p-8251.html
6
7Adafruit_PWMServoDriver  pwm0 = Adafruit_PWMServoDriver(0x40); //in this one you don't solder the board
8Adafruit_PWMServoDriver  pwm1 = Adafruit_PWMServoDriver(0x41); //in this one you solder one register.  Check  adafruit tutorial for details https://learn.adafruit.com/16-channel-pwm-servo-driver/chaining-drivers
9Adafruit_PWMServoDriver  pwm2 = Adafruit_PWMServoDriver(0x42);
10Adafruit_PWMServoDriver pwm7 = Adafruit_PWMServoDriver(0x43);  
11Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x44);
12Adafruit_PWMServoDriver  pwm5 = Adafruit_PWMServoDriver(0x45);
13Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x46);
14Adafruit_PWMServoDriver  pwm3 = Adafruit_PWMServoDriver(0x47);
15
16
17
18
19int C = 500; //delay variable
20int  x = 250; //through testing we found pwm 250 to look visiually as 90 degrees
21
22
23
24void  setup() {
25
26
27
28           pwm0.begin();
29  pwm0.setPWMFreq(50);    //add  frequency based on your motor datasheet, otherwise, do NOT complain of the jitter  :)
30             pwm1.begin();
31  pwm1.setPWMFreq(50);
32             pwm2.begin();
33  pwm2.setPWMFreq(50);
34             pwm3.begin();
35  pwm3.setPWMFreq(50);
36
37
38               pwm4.begin();
39  pwm4.setPWMFreq(50);
40               pwm5.begin();
41  pwm5.setPWMFreq(50);
42               pwm6.begin();
43  pwm6.setPWMFreq(50);
44               pwm7.begin();
45  pwm7.setPWMFreq(50);
46}
47
48void loop ()  {
49  
50 for (int i = 0; i <= 15; i++) {  //according to the driver library i  is the number of motors 
51      pwm7.setPWM(i, 0, x);
52      pwm6.setPWM(i,  0, x);
53      pwm5.setPWM(i, 0, x);
54      pwm4.setPWM(i, 0, x);
55      pwm3.setPWM(i,  0, x);
56      pwm2.setPWM(i, 0, x);
57      pwm1.setPWM(i, 0, x);
58      pwm0.setPWM(i,  0, x);
59      delay(50);
60
61  
62}
63
64delay (C);
65}

1#include "Arduino.h"
2#include <Wire.h>
3#include <Adafruit_PWMServoDriver.h>
4
5//numbering   works in binary. Check here if you get confused http://www.allspectrum.com/store/all-spectrum-electronics-binary-decimal-hex-reference-card-free-p-8251.html
6
7Adafruit_PWMServoDriver   pwm0 = Adafruit_PWMServoDriver(0x40); //in this one you don't solder the board
8Adafruit_PWMServoDriver   pwm1 = Adafruit_PWMServoDriver(0x41); //in this one you solder one register.  Check   adafruit tutorial for details https://learn.adafruit.com/16-channel-pwm-servo-driver/chaining-drivers
9Adafruit_PWMServoDriver   pwm2 = Adafruit_PWMServoDriver(0x42);
10Adafruit_PWMServoDriver pwm7 = Adafruit_PWMServoDriver(0x43);   
11Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x44);
12Adafruit_PWMServoDriver   pwm5 = Adafruit_PWMServoDriver(0x45);
13Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x46);
14Adafruit_PWMServoDriver   pwm3 = Adafruit_PWMServoDriver(0x47);
15
16
17
18
19int C = 500; //delay variable
20int   x = 250; //through testing we found pwm 250 to look visiually as 90 degrees
21
22
23
24void   setup() {
25
26
27
28           pwm0.begin();
29  pwm0.setPWMFreq(50);    //add   frequency based on your motor datasheet, otherwise, do NOT complain of the jitter   :)
30             pwm1.begin();
31  pwm1.setPWMFreq(50);
32             pwm2.begin();
33   pwm2.setPWMFreq(50);
34             pwm3.begin();
35  pwm3.setPWMFreq(50);
36
37
38                pwm4.begin();
39  pwm4.setPWMFreq(50);
40               pwm5.begin();
41   pwm5.setPWMFreq(50);
42               pwm6.begin();
43  pwm6.setPWMFreq(50);
44                pwm7.begin();
45  pwm7.setPWMFreq(50);
46}
47
48void loop ()   {
49  
50 for (int i = 0; i <= 15; i++) {  //according to the driver library i   is the number of motors 
51      pwm7.setPWM(i, 0, x);
52      pwm6.setPWM(i,   0, x);
53      pwm5.setPWM(i, 0, x);
54      pwm4.setPWM(i, 0, x);
55      pwm3.setPWM(i,   0, x);
56      pwm2.setPWM(i, 0, x);
57      pwm1.setPWM(i, 0, x);
58      pwm0.setPWM(i,   0, x);
59      delay(50);
60
61  
62}
63
64delay (C);
65}