/***************************************************?
??This?is?a?library?for?our?Adafruit?16-channel?PWM?&?Servo?driver

??Pick?one?up?today?in?the?adafruit?shop!
??------>?http://www.adafruit.com/products/815

??These?displays?use?I2C?to?communicate?2?pins?are?required?to??
??interface.?For?Arduino?UNOs?thats?SCL?->?Analog?5?SDA?->?Analog?4

??Adafruit?invests?time?and?resources?providing?this?open?source?code?
??please?support?Adafruit?and?open-source?hardware?by?purchasing?
??products?from?Adafruit!

??Written?by?Limor?Fried/Ladyada?for?Adafruit?Industries.??
??BSD?license?all?text?above?must?be?included?in?any?redistribution
?****************************************************/

#include?
#include?
#if?defined（__AVR__）
?#define?WIRE?Wire
#elif?defined（CORE_TEENSY）?//?Teensy?boards
?#define?WIRE?Wire
#else?//?Arduino?Due
?#define?WIRE?Wire1
#endif

//?Set?to?true?to?print?some?debug?messages?or?false?to?disable?them.
#define?ENABLE_DEBUG_OUTPUT?true

Adafruit_PWMServoDriver::Adafruit_PWMServoDriver（uint8_t?addr）?{
??_i2caddr?=?addr;
}

void?Adafruit_PWMServoDriver::begin（void）?{
?WIRE.begin（）;
?reset（）;
}


void?Adafruit_PWMServoDriver::reset（void）?{
?write8（PCA9685_MODE1?0x0）;
}

void?Adafruit_PWMServoDriver::setPWMFreq（float?freq）?{
??//Serial.print（“Attempting?to?set?freq?“）;
??//Serial.println（freq）;
??freq?*=?0.9;??//?Correct?for?overshoot?in?the?frequency?setting?（see?issue?#11）.
??float?prescaleval?=?25000000;
??prescaleval?/=?4096;
??prescaleval?/=?freq;
??prescaleval?-=?1;
??if?（ENABLE_DEBUG_OUTPUT）?{
????Serial.print（“Estimated?pre-scale:?“）;?Serial.println（prescaleval）;
??}
??uint8_t?prescale?=?floor（prescaleval?+?0.5）;
??if?（ENABLE_DEBUG_OUTPUT）?{
????Serial.print（“Final?pre-scale:?“）;?Serial.println（prescale）;
??}
??
??uint8_t?oldmode?=?read8（PCA9685_MODE1）;
??uint8_t?newmode?=?（oldmode&0x7F）?|?0x10;?//?sleep
??write8（PCA9685_MODE1?newmode）;?//?go?to?sleep
??write8（PCA9685_PRESCALE?prescale）;?//?set?the?prescaler
??write8（PCA9685_MODE1?oldmode）;
??delay（5）;
??write8（PCA9685_MODE1?oldmode?|?0xa1）;??//??This?sets?the?MODE1?register?to?turn?on?auto?increment.
??????????????????????????????????????????//?This?is?why?the?beginTransmission?below?was?not?working.
??//??Serial.print（“Mode?now?0x“）;?Serial.println（read8（PCA9685_MODE1）?HEX）;
}

void?Adafruit_PWMServoDriver::setPWM（uint8_t?num?uint16_t?on?uint16_t?off）?{
??//Serial.print（“Setting?PWM?“）;?Serial.print（num）;?Serial.print（“:?“）;?Serial.print（on）;?Serial.print（“->“）;?Serial.println（off）;

??WIRE.beginTransmission（_i2caddr）;
??WIRE.write（LED0_ON_L+4*num）;
??WIRE.write（on）;
??WIRE.write（on>>8）;
??WIRE.write（off）;
??WIRE.write（off>>8）;
??WIRE.endTransmission（）;
}

//?Sets?pin?without?having?to?deal?with?on/off?tick?placement?and?properly?handles
//?a?zero?value?as?completely?off.??Optional?invert?parameter?supports?inverting
//?the?pulse?for?sinking?to?ground.??Val?should?be?a?value?from?0?to?4095?inclusive.
void?Adafruit_PWMServoD

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件????1945980??2015-10-08?21:09??四足機(jī)器人源碼\16路PWM\adafruit-16-channel-pwm-slash-servo-shield.pdf

?????文件???????4045??2014-08-16?09:28??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\Adafruit_PWMServoDriver.cpp

?????文件???????1576??2014-08-16?09:28??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\Adafruit_PWMServoDriver.h

?????文件???????1755??2014-08-16?09:28??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\examples\pwmtest\pwmtest.pde

?????文件???????6177??2017-03-23?15:53??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\examples\servo\servo.ino

?????文件???????1499??2014-08-16?09:28??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\license.txt

?????文件???????1031??2014-08-16?09:28??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\README.md

?????文件???????7766??2015-03-25?17:01??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary.zip

?????文件????1636427??2017-03-22?20:19??四足機(jī)器人源碼\圖片\555555.gif

?????文件???14788791??2017-03-22?20:08??四足機(jī)器人源碼\圖片\GIF2.gif

?????文件????3351568??2017-03-22?20:09??四足機(jī)器人源碼\圖片\GIF3.gif

?????文件?????266063??2017-03-22?19:56??四足機(jī)器人源碼\圖片\wx_camera__clip.gif

?????文件????1871596??2017-03-22?20:13??四足機(jī)器人源碼\圖片\zhuanshen.gif

?????文件????????196??2017-03-10?19:24??四足機(jī)器人源碼\機(jī)器人所需螺絲.txt

?????文件???????9757??2015-12-08?22:19??四足機(jī)器人源碼\源代碼（The_Social_Quadruped）\The_Social_Quadruped\Quad_Functions.ino

?????文件???????2814??2015-12-08?23:27??四足機(jī)器人源碼\源代碼（The_Social_Quadruped）\The_Social_Quadruped\The_Social_Quadruped.ino

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\examples\pwmtest

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\examples\servo

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary\examples

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary\AdafruitPWMServoDriverLibrary

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM\AdafruitPWMServoDriverLibrary

?????目錄??????????0??2017-09-01?08:41??四足機(jī)器人源碼\源代碼（The_Social_Quadruped）\The_Social_Quadruped

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\16路PWM

?????目錄??????????0??2017-09-01?08:41??四足機(jī)器人源碼\圖片

?????目錄??????????0??2017-09-01?08:43??四足機(jī)器人源碼\源代碼（The_Social_Quadruped）

?????目錄??????????0??2017-09-01?08:46??四足機(jī)器人源碼

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?????????????23897041????????????????????26