arduino pca9685多舵机同时控制案例

#include <Servo.h>
#include<Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
#define SERVOMIN  150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  1300 // this is the 'maximum' pulse length count (out of 4096)

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  pwm.begin();
  
  pwm.setPWMFreq(60);  
}


void setServoPulse(uint8_t n, double pulse) {
  double pulselength;
  
  pulselength = 1000000;  
  pulselength /= 60;  
  Serial.print(pulselength); Serial.println(" us per period"); 
  pulselength /= 4096; 
  Serial.print(pulselength); Serial.println(" us per bit"); 
  pulse *= 1000;
  pulse /= pulselength;
  Serial.println(pulse);
  pwm.setPWM(n, 0, pulse);
}

void loop()
{
     delay(4000);
 //Serial.println(servonum);
 
for (uint16_t pulselen = SERVOMIN; pulselen <SERVOMAX/2; pulselen++) {
    pwm.setPWM(0, 0, pulselen);
    Serial.println(0);
     delay(4);
 }

 for (uint16_t pulselen = SERVOMIN; pulselen <SERVOMAX/5 ; pulselen++) {
    
     pwm.setPWM(2, 0, pulselen);
     
     pwm.setPWM(4, 0, pulselen);
     delay(4);
     Serial.println(1);
  }
 
   for (uint16_t pulselen = SERVOMAX/5; pulselen >SERVOMIN; pulselen--)
{
     pwm.setPWM(2, 0, pulselen);
   
     pwm.setPWM(4, 0, pulselen);
     delay(4);
     Serial.println(2);
   }
   
   for (uint16_t pulselen =SERVOMIN; pulselen <SERVOMAX/5 ; pulselen++)