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Grove I2C Motor and Servo Controller Board
Grove I2C Motor and Servo Controller Board
Grove I2C Motor and Servo Controller Board
Grove I2C Motor and Servo Controller Board

Grove I2C Motor and Servo Controller Board

Regular price
$18.00
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$18.00
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This is the same board used in the MouseAir project.  It contains a PC9685 Module and has 4 pins for motor (2 DC motors or one stepper motor) control and 8 PWM pins for Servo motor control.

 

 

 

 

Code

 

You can download the PC9685 Driver as part of the MouseAir software release.

https://github.com/switchdoclabs/SDL_Pi_MouseAir

 

sys.path.append('./PCA9685Driver')
# Import the PCA9685 module.
from pca9685_driver import Device

# launch servo
pwm = Device(0x41)
# Set frequency to 60hz, good for pwm.
pwm.set_pwm_frequency(60)

#PC9685 - TB6612FNG
# PWM8  - PWMA
# PWM9  - AIN1
# PWM10 - AIN2
#
# PWM11 - BIN1
# PWM12 - BIN2
# PWM13 - PWMB

pwmA = 8
ain1 = 9
ain2 = 10


pwmB = 11
bin1 = 12
bin2 = 13

servo_max = 4095


# launch motors


def getStatistics():
    return (0,0)

def setLaunchSpeed(Right, Left):
    state.LaunchSpeedRight = Right
    state.LaunchSpeedLeft = Left

def launchMotorsOn(): 
        LSpeed = int((state.LaunchSpeedLeft/255.0)*servo_max)
        RSpeed = int((state.LaunchSpeedRight/255.0)*servo_max)
        print ('LSpeed, Rspeed', LSpeed, RSpeed)
        pwm.set_pwm(pwmA, LSpeed )
        pwm.set_pwm(ain1, 0)
        pwm.set_pwm(ain2, servo_max) 

        time.sleep(1.0)
        pwm.set_pwm(pwmB,  RSpeed )
        pwm.set_pwm(bin1,  0)
        pwm.set_pwm(bin2,  servo_max) 

def launchMotorsOff():

        pwm.set_pwm(pwmA,  0)
        pwm.set_pwm(ain1,  0)
        pwm.set_pwm(ain2,  0) 

        time.sleep(0.5)
        pwm.set_pwm(pwmB,  0) 
        pwm.set_pwm(bin1,  0)
        pwm.set_pwm(bin2,  0) 



def set_servo_pulse(channel, pulse):
    
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, pulse)

def launchServoStart():
    
    # Move servo on channel O between extremes.
    pwm.set_pwm(0,  state.LaunchServoMin)
    time.sleep(state.LaunchTimeForward)
    pwm.set_pwm(0,  0 )
    time.sleep(state.LaunchTimeDelay)

def launchServoRetract():
    
    pwm.set_pwm(0,  state.LaunchServoMax)
    time.sleep(state.LaunchTimeBackward)
    pwm.set_pwm(0,  0 )
    time.sleep(state.LaunchTimeDelay)
   
def safeShuntdownServos():
    pwm.set_pwm(0,  servo_max)
    time.sleep(state.LaunchTimeQuit)
    pwm = Device(0x41)

def immediateShutDownServos():
    pwm = Device(0x41)

 

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