#include <ServoDispatchPCA9685.h>

Detailed Description

template<uint16_t numServos, byte defaultOEValue = HIGH>
class ServoDispatchPCA9685< numServos, defaultOEValue >

Implements ServoDispatch over i2c to PCA9685.

Implements ServoDispatch and spreads the PWM output to up to 62 PCA9685 modules (via i2c address 0x40-0x75). Theoretically allowing you to control up to 992 PWM outputs.

OE pin defaults to LOW.

Inheritance diagram for ServoDispatchPCA9685< numServos, defaultOEValue >:

Collaboration diagram for ServoDispatchPCA9685< numServos, defaultOEValue >:

Public Member Functions
	ServoDispatchPCA9685 (TwoWire *i2c, uint8_t startAddress=0x40)
	Constructor. More...

	ServoDispatchPCA9685 (TwoWire i2c, const ServoSettings settings, uint8_t startAddress=0x40)
	Constructor. More...

	ServoDispatchPCA9685 (const ServoSettings *settings, uint8_t startAddress=0x40)
	Constructor. More...

	ServoDispatchPCA9685 (uint8_t startAddress=0x40)
	Constructor. More...

byte	numberOfPCA9685Chips ()

virtual uint16_t	getNumServos () override

void	ensureDisabled ()

void	ensureEnabled ()

void	setOutputEnablePin (const byte outputEnablePin, bool outputAutoOff=true)

void	setClockCalibration (const uint32_t clock[(numServos/16)+1])

virtual uint8_t	getPin (uint16_t num) override

virtual uint16_t	getStart (uint16_t num) override

virtual uint16_t	getEnd (uint16_t num) override

virtual uint16_t	getMinimum (uint16_t num) override

virtual uint16_t	getNeutral (uint16_t num) override

virtual uint16_t	getMaximum (uint16_t num) override

virtual uint32_t	getGroup (uint16_t num) override

virtual uint16_t	currentPos (uint16_t num) override

virtual void	setPin (uint16_t num, uint16_t pin) override

virtual void	setNeutral (uint16_t num, uint16_t neutralPulse) override

virtual void	setStart (uint16_t num, uint16_t startPulse) override

virtual void	setEnd (uint16_t num, uint16_t endPulse) override

virtual void	setServo (uint16_t num, uint8_t pin, uint16_t startPulse, uint16_t endPulse, uint16_t neutralPulse, uint32_t group) override

virtual void	stop () override

virtual uint16_t	scaleToPos (uint16_t num, float scale) override

virtual void	setup () override
	Subclasses must implement this function to perform any necessary setup that cannot happen in the constructor. More...

virtual bool	isActive (uint16_t num) override

virtual void	disable (uint16_t num) override

virtual void	animate () override
	Subclasses must implement this function to run through a single frame of animation/activity. More...

void	setOutput (uint16_t servoChannel, bool state)

void	setPrescale (uint8_t prescale)

uint8_t	getPrescale (uint8_t chipNumber)

void	setEnvironmentTemperatureCelsius (int8_t degreesInCelsius)

void	setChannelStaggering (bool value)

float	getNominalUpdateFrequency (uint32_t clockFrequency, uint8_t prescale)

void	setClockFrequency (const uint32_t clocks[(numServos/16)+1])

void	setUpdateFrequency (const float targetUpdateFrequency[(numServos/16)+1])

uint8_t	getCalculatedPrescale (uint32_t calculatedClockFrequency, float targetUpdateFrequency)

uint16_t	getCalibratedSteps (uint8_t chip, uint16_t targetLength)

float	getCalculatedResolution (uint8_t chip)

void	setPWMFull (uint16_t servoChannel)

void	setPWMOff (uint16_t servoChannel)

void	setPWM (uint16_t servoChannel, uint16_t on, uint16_t off)

void	setPWM (uint16_t servoChannel, uint16_t targetLength)

void	setPWMAll (uint16_t targetLength)

void	setOutputAll (bool state)

int	mapPulselength (double microseconds)

Public Member Functions inherited from ServoDispatch
virtual void	setGroup (uint16_t num, uint32_t group)

void	moveTo (uint16_t num, uint32_t startDelay, uint32_t moveTime, float pos)

void	moveTo (uint16_t num, uint32_t moveTime, float pos)

void	moveTo (uint16_t num, float pos)

void	moveTo (uint16_t num, uint32_t startDelay, uint32_t moveTime, float startPos, float pos)

void	moveServosTo (uint32_t servoGroupMask, float pos)

void	moveServosTo (uint32_t servoGroupMask, uint32_t moveTime, float pos)

void	moveServosTo (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, float pos)

void	moveServosTo (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float pos)

void	moveServoSetTo (uint32_t servoGroupMask, uint32_t servoSetMask, float onPos, float offPos, float(onEasingMethod)(float)=NULL, float(offEasingMethod)(float)=NULL)

void	moveServoSetTo (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, float onPos, float offPos, float(onEasingMethod)(float)=NULL, float(offEasingMethod)(float)=NULL)

void	moveServoSetTo (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, float onPos, float offPos, float(onEasingMethod)(float)=NULL, float(offEasingMethod)(float)=NULL)

void	moveServoSetTo (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float onPos, float offPos, float(onEasingMethod)(float)=NULL, float(offEasingMethod)(float)=NULL)

void	moveToPulse (uint16_t num, uint32_t startDelay, uint32_t moveTime, uint16_t pos)

void	moveToPulse (uint16_t num, uint32_t moveTime, uint16_t pos)

void	moveToPulse (uint16_t num, uint16_t pos)

void	moveToPulse (uint16_t num, uint32_t startDelay, uint32_t moveTime, uint16_t startPos, uint16_t pos)

void	moveByPulse (uint16_t num, uint32_t moveTime, int16_t pos)

void	moveByPulse (uint16_t num, int16_t pos)

void	moveByPulse (uint16_t num, uint32_t startDelay, uint32_t moveTime, int16_t pos)

void	moveServosToPulse (uint32_t servoGroupMask, uint16_t pos)

void	moveServosToPulse (uint32_t servoGroupMask, uint32_t moveTime, uint16_t pos)

void	moveServosToPulse (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, uint16_t pos)

void	moveServosToPulse (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t pos)

void	moveServosByPulse (uint32_t servoGroupMask, uint32_t moveTime, uint16_t pos)

void	moveServosByPulse (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, int16_t pos)

void	moveServosByPulse (uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t pos)

void	moveServoSetToPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint16_t onPos, uint16_t offPos)

void	moveServoSetToPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, uint16_t onPos, uint16_t offPos)

void	moveServoSetToPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, uint16_t onPos, uint16_t offPos)

void	moveServoSetToPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t onPos, int16_t offPos)

void	moveServoSetByPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, int16_t onPos, int16_t offPos)

void	moveServoSetByPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, int16_t onPos, int16_t offPos)

void	moveServoSetByPulse (uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t onPos, int16_t offPos)

void	setServoEasingMethod (uint16_t num, float(*easingMethod)(float completion))

void	setServosEasingMethod (uint32_t servoGroupMask, float(*easingMethod)(float completion))

void	setEasingMethod (float(*easingMethod)(float completion))

Additional Inherited Members

Constructor & Destructor Documentation

◆ ServoDispatchPCA9685() [1/4]

template<uint16_t numServos, byte defaultOEValue = HIGH>

ServoDispatchPCA9685< numServos, defaultOEValue >::ServoDispatchPCA9685	(	TwoWire *	i2c,
		uint8_t	startAddress = `0x40`
	)

inline

Constructor.

◆ ServoDispatchPCA9685() [2/4]

template<uint16_t numServos, byte defaultOEValue = HIGH>

ServoDispatchPCA9685< numServos, defaultOEValue >::ServoDispatchPCA9685	(	TwoWire *	i2c,
		const ServoSettings *	settings,
		uint8_t	startAddress = `0x40`
	)

inline

Constructor.

◆ ServoDispatchPCA9685() [3/4]

template<uint16_t numServos, byte defaultOEValue = HIGH>

ServoDispatchPCA9685< numServos, defaultOEValue >::ServoDispatchPCA9685	(	const ServoSettings *	settings,
		uint8_t	startAddress = `0x40`
	)

inline

Constructor.

◆ ServoDispatchPCA9685() [4/4]

template<uint16_t numServos, byte defaultOEValue = HIGH>

ServoDispatchPCA9685< numServos, defaultOEValue >::ServoDispatchPCA9685 ( uint8_t startAddress = 0x40 )

inline

Constructor.

Member Function Documentation

◆ animate()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::animate ( )

inlineoverridevirtual

Subclasses must implement this function to run through a single frame of animation/activity.

Subclasses should not call delay() or otherwise block.

Implements AnimatedEvent.

◆ currentPos()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::currentPos ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ disable()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::disable ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ ensureDisabled()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::ensureDisabled ( )

inline

◆ ensureEnabled()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::ensureEnabled ( )

inline

◆ getCalculatedPrescale()

template<uint16_t numServos, byte defaultOEValue = HIGH>

uint8_t ServoDispatchPCA9685< numServos, defaultOEValue >::getCalculatedPrescale	(	uint32_t	calculatedClockFrequency,
		float	targetUpdateFrequency
	)

inline

◆ getCalculatedResolution()

template<uint16_t numServos, byte defaultOEValue = HIGH>

float ServoDispatchPCA9685< numServos, defaultOEValue >::getCalculatedResolution ( uint8_t chip )

inline

◆ getCalibratedSteps()

template<uint16_t numServos, byte defaultOEValue = HIGH>

uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getCalibratedSteps	(	uint8_t	chip,
		uint16_t	targetLength
	)

inline

◆ getEnd()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getEnd ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getGroup()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint32_t ServoDispatchPCA9685< numServos, defaultOEValue >::getGroup ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getMaximum()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getMaximum ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getMinimum()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getMinimum ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getNeutral()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getNeutral ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getNominalUpdateFrequency()

template<uint16_t numServos, byte defaultOEValue = HIGH>

float ServoDispatchPCA9685< numServos, defaultOEValue >::getNominalUpdateFrequency	(	uint32_t	clockFrequency,
		uint8_t	prescale
	)

inline

◆ getNumServos()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getNumServos ( )

inlineoverridevirtual

Implements ServoDispatch.

◆ getPin()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint8_t ServoDispatchPCA9685< numServos, defaultOEValue >::getPin ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ getPrescale()

template<uint16_t numServos, byte defaultOEValue = HIGH>

uint8_t ServoDispatchPCA9685< numServos, defaultOEValue >::getPrescale ( uint8_t chipNumber )

inline

◆ getStart()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::getStart ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ isActive()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual bool ServoDispatchPCA9685< numServos, defaultOEValue >::isActive ( uint16_t num )

inlineoverridevirtual

Implements ServoDispatch.

◆ mapPulselength()

template<uint16_t numServos, byte defaultOEValue = HIGH>

int ServoDispatchPCA9685< numServos, defaultOEValue >::mapPulselength ( double microseconds )

inline

◆ numberOfPCA9685Chips()

template<uint16_t numServos, byte defaultOEValue = HIGH>

byte ServoDispatchPCA9685< numServos, defaultOEValue >::numberOfPCA9685Chips ( )

inline

◆ scaleToPos()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual uint16_t ServoDispatchPCA9685< numServos, defaultOEValue >::scaleToPos	(	uint16_t	num,
		float	scale
	)

inlineoverridevirtual

Implements ServoDispatch.

◆ setChannelStaggering()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setChannelStaggering ( bool value )

inline

◆ setClockCalibration()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setClockCalibration ( const uint32_t clock[(numServos/16)+1] )

inline

◆ setClockFrequency()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setClockFrequency ( const uint32_t clocks[(numServos/16)+1] )

inline

◆ setEnd()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setEnd	(	uint16_t	num,
		uint16_t	endPulse
	)

inlineoverridevirtual

Reimplemented from ServoDispatch.

◆ setEnvironmentTemperatureCelsius()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setEnvironmentTemperatureCelsius ( int8_t degreesInCelsius )

inline

◆ setNeutral()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setNeutral	(	uint16_t	num,
		uint16_t	neutralPulse
	)

inlineoverridevirtual

Reimplemented from ServoDispatch.

◆ setOutput()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setOutput	(	uint16_t	servoChannel,
		bool	state
	)

inline

◆ setOutputAll()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setOutputAll ( bool state )

inline

◆ setOutputEnablePin()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setOutputEnablePin	(	const byte	outputEnablePin,
		bool	outputAutoOff = `true`
	)

inline

◆ setPin()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setPin	(	uint16_t	num,
		uint16_t	pin
	)

inlineoverridevirtual

Reimplemented from ServoDispatch.

◆ setPrescale()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPrescale ( uint8_t prescale )

inline

◆ setPWM() [1/2]

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPWM	(	uint16_t	servoChannel,
		uint16_t	on,
		uint16_t	off
	)

inline

◆ setPWM() [2/2]

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPWM	(	uint16_t	servoChannel,
		uint16_t	targetLength
	)

inlinevirtual

Implements ServoDispatch.

◆ setPWMAll()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPWMAll ( uint16_t targetLength )

inline

◆ setPWMFull()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPWMFull ( uint16_t servoChannel )

inline

◆ setPWMOff()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setPWMOff ( uint16_t servoChannel )

inline

◆ setServo()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setServo	(	uint16_t	num,
		uint8_t	pin,
		uint16_t	startPulse,
		uint16_t	endPulse,
		uint16_t	neutralPulse,
		uint32_t	group
	)

inlineoverridevirtual

Implements ServoDispatch.

◆ setStart()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setStart	(	uint16_t	num,
		uint16_t	startPulse
	)

inlineoverridevirtual

Reimplemented from ServoDispatch.

◆ setup()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::setup ( )

inlineoverridevirtual

Subclasses must implement this function to perform any necessary setup that cannot happen in the constructor.

Implements SetupEvent.

◆ setUpdateFrequency()

template<uint16_t numServos, byte defaultOEValue = HIGH>

void ServoDispatchPCA9685< numServos, defaultOEValue >::setUpdateFrequency ( const float targetUpdateFrequency[(numServos/16)+1] )

inline

◆ stop()

template<uint16_t numServos, byte defaultOEValue = HIGH>

virtual void ServoDispatchPCA9685< numServos, defaultOEValue >::stop ( )

inlineoverridevirtual

Implements ServoDispatch.

The documentation for this class was generated from the following file:

ServoDispatchPCA9685.h

Detailed Description

template<uint16_t numServos, byte defaultOEValue = HIGH> class ServoDispatchPCA9685< numServos, defaultOEValue >

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ServoDispatchPCA9685() [1/4]

◆ ServoDispatchPCA9685() [2/4]

◆ ServoDispatchPCA9685() [3/4]

◆ ServoDispatchPCA9685() [4/4]

Member Function Documentation

◆ animate()

◆ currentPos()

◆ disable()

◆ ensureDisabled()

◆ ensureEnabled()

◆ getCalculatedPrescale()

◆ getCalculatedResolution()

◆ getCalibratedSteps()

◆ getEnd()

◆ getGroup()

◆ getMaximum()

◆ getMinimum()

◆ getNeutral()

◆ getNominalUpdateFrequency()

◆ getNumServos()

◆ getPin()

◆ getPrescale()

◆ getStart()

◆ isActive()

◆ mapPulselength()

◆ numberOfPCA9685Chips()

◆ scaleToPos()

◆ setChannelStaggering()

◆ setClockCalibration()

◆ setClockFrequency()

◆ setEnd()

◆ setEnvironmentTemperatureCelsius()

◆ setNeutral()

◆ setOutput()

◆ setOutputAll()

◆ setOutputEnablePin()

◆ setPin()

◆ setPrescale()

◆ setPWM() [1/2]

◆ setPWM() [2/2]

◆ setPWMAll()

◆ setPWMFull()

◆ setPWMOff()

◆ setServo()

◆ setStart()

◆ setup()

◆ setUpdateFrequency()

◆ stop()

template<uint16_t numServos, byte defaultOEValue = HIGH>
class ServoDispatchPCA9685< numServos, defaultOEValue >