Class that stores state and functions for interacting with PCA9685 PWM chip. More...

#include <Adafruit_PWMServoDriver.h>

Public Member Functions
	Adafruit_PWMServoDriver ()
	Instantiates a new PCA9685 PWM driver chip with the I2C address on a TwoWire interface.

	Adafruit_PWMServoDriver (const uint8_t addr)
	Instantiates a new PCA9685 PWM driver chip with the I2C address on a TwoWire interface. More...

	Adafruit_PWMServoDriver (const uint8_t addr, TwoWire &i2c)
	Instantiates a new PCA9685 PWM driver chip with the I2C address on a TwoWire interface. More...

bool	begin (uint8_t prescale=0)
	Setups the I2C interface and hardware. More...

void	reset ()
	Sends a reset command to the PCA9685 chip over I2C.

void	sleep ()
	Puts board into sleep mode.

void	wakeup ()
	Wakes board from sleep.

void	setExtClk (uint8_t prescale)
	Sets EXTCLK pin to use the external clock. More...

void	setPWMFreq (float freq)
	Sets the PWM frequency for the entire chip, up to ~1.6 KHz. More...

void	setOutputMode (bool totempole)
	Sets the output mode of the PCA9685 to either open drain or push pull / totempole. Warning: LEDs with integrated zener diodes should only be driven in open drain mode. More...

uint16_t	getPWM (uint8_t num, bool off=false)
	Gets the PWM output of one of the PCA9685 pins. More...

uint8_t	setPWM (uint8_t num, uint16_t on, uint16_t off)
	Sets the PWM output of one of the PCA9685 pins. More...

void	setPin (uint8_t num, uint16_t val, bool invert=false)
	Helper to set pin PWM output. Sets pin without having to deal with on/off tick placement and properly handles a zero value as completely off and 4095 as completely on. Optional invert parameter supports inverting the pulse for sinking to ground. More...

uint8_t	readPrescale (void)
	Reads set Prescale from PCA9685. More...

void	writeMicroseconds (uint8_t num, uint16_t Microseconds)
	Sets the PWM output of one of the PCA9685 pins based on the input microseconds, output is not precise. More...

void	setOscillatorFrequency (uint32_t freq)
	Setter for the internally tracked oscillator used for freq calculations. More...

uint32_t	getOscillatorFrequency (void)
	Getter for the internally tracked oscillator used for freq calculations. More...

Detailed Description

Class that stores state and functions for interacting with PCA9685 PWM chip.

Constructor & Destructor Documentation

◆ Adafruit_PWMServoDriver() [1/2]

Adafruit_PWMServoDriver::Adafruit_PWMServoDriver ( const uint8_t addr )

Instantiates a new PCA9685 PWM driver chip with the I2C address on a TwoWire interface.

Parameters

addr	The 7-bit I2C address to locate this chip, default is 0x40

◆ Adafruit_PWMServoDriver() [2/2]

Adafruit_PWMServoDriver::Adafruit_PWMServoDriver	(	const uint8_t	addr,
		TwoWire &	i2c
	)

Instantiates a new PCA9685 PWM driver chip with the I2C address on a TwoWire interface.

Parameters

addr	The 7-bit I2C address to locate this chip, default is 0x40
i2c	A reference to a 'TwoWire' object that we'll use to communicate with

Member Function Documentation

◆ begin()

bool Adafruit_PWMServoDriver::begin ( uint8_t prescale = 0 )

Setups the I2C interface and hardware.

Parameters

prescale Sets External Clock (Optional)

Returns: true if successful, otherwise false

◆ setExtClk()

void Adafruit_PWMServoDriver::setExtClk ( uint8_t prescale )

Sets EXTCLK pin to use the external clock.

Parameters

prescale Configures the prescale value to be used by the external clock

◆ setPWMFreq()

void Adafruit_PWMServoDriver::setPWMFreq ( float freq )

Sets the PWM frequency for the entire chip, up to ~1.6 KHz.

Parameters

freq	Floating point frequency that we will attempt to match

◆ setOutputMode()

void Adafruit_PWMServoDriver::setOutputMode ( bool totempole )

Sets the output mode of the PCA9685 to either open drain or push pull / totempole. Warning: LEDs with integrated zener diodes should only be driven in open drain mode.

Parameters

totempole Totempole if true, open drain if false.

◆ getPWM()

uint16_t Adafruit_PWMServoDriver::getPWM	(	uint8_t	num,
		bool	off = `false`
	)

Gets the PWM output of one of the PCA9685 pins.

Parameters

num	One of the PWM output pins, from 0 to 15
off	If true, returns PWM OFF value, otherwise PWM ON

Returns: requested PWM output value

◆ setPWM()

uint8_t Adafruit_PWMServoDriver::setPWM	(	uint8_t	num,
		uint16_t	on,
		uint16_t	off
	)

Sets the PWM output of one of the PCA9685 pins.

Parameters

num	One of the PWM output pins, from 0 to 15
on	At what point in the 4096-part cycle to turn the PWM output ON
off	At what point in the 4096-part cycle to turn the PWM output OFF

Returns: 0 if successful, otherwise 1

◆ setPin()

void Adafruit_PWMServoDriver::setPin	(	uint8_t	num,
		uint16_t	val,
		bool	invert = `false`
	)

Helper to set pin PWM output. Sets pin without having to deal with on/off tick placement and properly handles a zero value as completely off and 4095 as completely on. Optional invert parameter supports inverting the pulse for sinking to ground.

Parameters

num	One of the PWM output pins, from 0 to 15
val	The number of ticks out of 4096 to be active, should be a value from 0 to 4095 inclusive.
invert	If true, inverts the output, defaults to 'false'

◆ readPrescale()

uint8_t Adafruit_PWMServoDriver::readPrescale ( void )

Reads set Prescale from PCA9685.

Returns: prescale value

◆ writeMicroseconds()

void Adafruit_PWMServoDriver::writeMicroseconds	(	uint8_t	num,
		uint16_t	Microseconds
	)

Sets the PWM output of one of the PCA9685 pins based on the input microseconds, output is not precise.

Parameters

num	One of the PWM output pins, from 0 to 15
Microseconds	The number of Microseconds to turn the PWM output ON

◆ setOscillatorFrequency()

void Adafruit_PWMServoDriver::setOscillatorFrequency ( uint32_t freq )

Setter for the internally tracked oscillator used for freq calculations.

Parameters

freq	The frequency the PCA9685 should use for frequency calculations

◆ getOscillatorFrequency()

uint32_t Adafruit_PWMServoDriver::getOscillatorFrequency ( void )

Getter for the internally tracked oscillator used for freq calculations.

Returns: The frequency the PCA9685 thinks it is running at (it cannot introspect)

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Adafruit_PWMServoDriver() [1/2]

◆ Adafruit_PWMServoDriver() [2/2]

Member Function Documentation

◆ begin()

◆ setExtClk()

◆ setPWMFreq()

◆ setOutputMode()

◆ getPWM()

◆ setPWM()

◆ setPin()

◆ readPrescale()

◆ writeMicroseconds()

◆ setOscillatorFrequency()

◆ getOscillatorFrequency()