Fishbot 四驱版使用PCA9685扩展PWM接口数量

[小鱼]

板子本身舵机接口不够，可以使用PCA9685进行扩展，该版本价格10元左右，某宝均可购买。

驱动例程如下，PIO工程

platformio.ini

; PlatformIO Project Configuration File
;
;   Build options: build flags, source filter
;   Upload options: custom upload port, speed and extra flags
;   Library options: dependencies, extra library storages
;   Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html

[env:featheresp32]
platform = espressif32
board = featheresp32
framework = arduino
lib_deps = nachtravevl/PCA9685-Arduino@^1.2.15

main.cpp

#include "PCA9685.h"

PCA9685 pwmController;                  // Library using default B000000 (A5-A0) i2c address, and default Wire @400kHz
PCA9685_ServoEval pwmServo1;

void setup() {
    Serial.begin(115200);               // Begin Serial and Wire interfaces
    Wire.begin(18,19);
    pwmController.resetDevices();       // Resets all PCA9685 devices on i2c line
    pwmController.init();               // Initializes module using default totem-pole driver mode, and default disabled phase balancer
    pwmController.setPWMFreqServo(); // Set PWM freq to 100Hz (default is 200Hz, supports 24Hz to 1526Hz)
    for(int i=0;i<16;i++)
    {
      pwmController.setChannelPWM(i, pwmServo1.pwmForAngle(0+i*10)); // Set PWM to 128/255, shifted into 4096-land
      Serial.println(pwmController.getChannelPWM(i)); // Should output 2048, which is 128 << 4
    }
}

void loop() {
  
}