Hey, everyone! Looking for some sage wisdom on a project I'm trying to figure out.
Short version:
I'm attempting to control a 12v linear actuator with a PWM9685. I can get it to power out the actuator arm once, but I can't get it to retract, control the timing...nada.
Here's the code I got from the interwebs, but I get the sense that it's just powering the actuator, not controlling it; seems a little complicated for "run it out", y'know?
//Libraries
#include <Wire.h>//https://www.arduino.cc/en/reference/wire
#include <Adafruit_PWMServoDriver.h>//https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
//Constants
#define nbPCAServo 16
//Parameters
int MIN_IMP [nbPCAServo] ={500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500};
int MAX_IMP [nbPCAServo] ={2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500};
int MIN_ANG [nbPCAServo] ={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int MAX_ANG [nbPCAServo] ={180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180};
//Objects
Adafruit_PWMServoDriver pca= Adafruit_PWMServoDriver(0x40);
void setup(){
//Init Serial USB
Serial.begin(9600);
Serial.println(F("Initialize System"));
pca.begin();
pca.setPWMFreq(60); // Analog servos run at ~60 Hz updates
}
void loop(){
pcaScenario();
}
void pcaScenario(){/* function pcaScenario */
////Scenario to test servomotors controlled by PCA9685 I2C Module
for (int i=0; i<nbPCAServo; i++) {
Serial.print("Servo");
Serial.println(i);
//int middleVal=((MAX_IMP[i]+MIN_IMP[i])/2)/20000*4096; // conversion µs to pwmval
//pca.setPWM(i,0,middleVal);
for(int pos=(MAX_IMP[i]+MIN_IMP[i])/2;pos<MAX_IMP[i];pos+=10){
pca.writeMicroseconds(i,pos);delay(10);
}
for(int pos=MAX_IMP[i];pos>MIN_IMP[i];pos-=10){
pca.writeMicroseconds(i,pos);delay(10);
}
for(int pos=MIN_IMP[i];pos<(MAX_IMP[i]+MIN_IMP[i])/2;pos+=10){
pca.writeMicroseconds(i,pos);delay(10);
}
pca.setPin(i,0,true); // deactivate pin i
}
}
int jointToImp(double x,int i){/* function jointToImp */
////Convert joint angle into pwm command value
int imp=(x - MIN_ANG[i]) * (MAX_IMP[i]-MIN_IMP[i]) / (MAX_ANG[i]-MIN_ANG[i]) + MIN_IMP[i];
imp=max(imp,MIN_IMP[i]);
imp=min(imp,MAX_IMP[i]);
return imp;
}
My wiring is all correct (double- and triple-checked), so I'm kind of at a loss on how to proceed. Thoughts?
Thanks in advance!
Jordan G.
