https://github.com/btsimonh/pca9685-pigpio-client

PCA9685 servo driver based on pigpio-client
https://github.com/btsimonh/pca9685-pigpio-client

Last synced: 16 days ago
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PCA9685 servo driver based on pigpio-client

• Host: GitHub
• URL: https://github.com/btsimonh/pca9685-pigpio-client
• Owner: btsimonh
• License: mit
• Created: 2023-02-21T18:50:11.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-02-22T19:37:41.000Z (almost 2 years ago)
• Last Synced: 2024-11-11T13:11:48.303Z (about 2 months ago)
• Language: JavaScript
• Size: 12.7 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# PCA9685-pigpio-client

PCA9685 servo driver based on pigpio-client

module adds .PCA9685Servos(opts) to pigpio.

## install

```

npm install --save github:btsimonh/PCA9685-pigpio-client

```

this depends upon github:btsimonh/pigpio-client#Addmorei2c

## Usage:

let pca = require('PCA9685-pigpio-client');

pca(pigpio);

after pigpio connect, call pigpio.PCA9685Servos(opts)

opts like:

```

{

    servo_max_us: DEFAULT_SERVO_MAX_US, // 500

    servo_min_us: DEFAULT_SERVO_MIN_US, // 2500

    cycle_time_us: DEFAULT_CYCLE_TIME_US, // 20,000

    debug: 0,

}

```

```

let opts = {};

let servos = pigpio.PCA9685Servos(opts);

servos.setServoLimits(0, 0.2, 0.8);

let setPosn = await servos.setServo(0, 0.5);

```

## functions:

```

servos.setServoLimits(index, min, max); // set min/mas lmits for a servo (0-1)

let posn = await servos.setServo(index, posn); // set a servo to a posn (0-1)|-1, return limited posn or -1.  -1 indicates stop pwm for that servo

await servos.sleep(); // stop the clock, sleep device

await servos.wake(); // start the clock, wake device

await servos.clearServos(); // stop pwm for all servos

await servos.allServos(posn); // set all servos to posn (0.0-1.0)|-1  posn for each will be limited by user limits if set

await servos.close(); // close the i2c handle on pigpio.

await servos.init(); // re-initialise, e.g. if pigpio reconnected.  tries to close existing if present.

await servos.wait_ms(ms); // simple awaitable delay

await servos.setServoScaled(servo, scaledposn); // set a posn 0-1 which will be scales to min-max as set by setServoLimits

```

### movement functions

```

moveTo(servo, target_posn, duration_ms); // NOT ASYNC.  move the servo to a new position over a period (starts a 40ms timer)

moveToScaled(servo, scaled_target_posn, duration_ms); // NOT ASYNC.  move the servo to a new position over a period (starts a 40ms timer) - scaled so 0-1 -> min-max as set.

```

# Acknowledgments

It was made possible because of the brilliant work by the writers of [piopiod](https://abyz.me.uk/rpi/pigpio/pigpiod.html), and the implementaiton of [pigpio-client](https://github.com/guymcswain/pigpio-client) by @guymcswain (hopefully he'll merge my i2c enhancements soon...).