inf sachen

INF/libraries/PCA9685/LICENSE

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+License Agreement
+(3-clause BSD License)
+Janelia Research Campus Software Copyright 1.1
+
+Copyright (c) 2014, Howard Hughes Medical Institute
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the Howard Hughes Medical Institute nor the
+  names of its contributors may be used to endorse or promote products
+  derived from this software without specific prior written
+  permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

INF/libraries/PCA9685/README.org

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+#+TITLE: PCA9685
+#+AUTHOR: Peter Polidoro
+#+EMAIL: peterpolidoro@gmail.com
+
+* Library Information
+  - Name :: PCA9685
+  - Version :: 2.1.4
+  - License :: BSD
+  - URL :: https://github.com/janelia-arduino/PCA9685
+  - Author :: Peter Polidoro
+  - Email :: peterpolidoro@gmail.com
+
+  The PCA9685 is a 16-channel 12-bit PWM controller. All channels operate at a
+  programmable frequency between roughly 25 to 1600 Hz with 16 independent
+  12-bit duty cycles from 0 to 100%. Supports using a single device (for up to
+  16 channels) or up to 55 devices (for up to 880 channels).

INF/libraries/PCA9685/examples/FrequencySweep/Constants.cpp

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+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency_increment = 10;
+}

INF/libraries/PCA9685/examples/FrequencySweep/Constants.h

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+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency_increment;
+}
+#endif

INF/libraries/PCA9685/examples/FrequencySweep/FrequencySweep.ino

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+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t frequency_min;
+uint16_t frequency_max;
+uint16_t frequency;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  uint16_t time_min = pca9685.getTimeMin();
+  uint16_t time_max = pca9685.getTimeMax();
+  pca9685.setAllChannelsOnAndOffTime(time_min,time_max/4);
+
+  frequency_min = pca9685.getFrequencyMin();
+  frequency_max = pca9685.getFrequencyMax();
+
+  frequency = frequency_min;
+}
+
+void loop()
+{
+  if (frequency > frequency_max)
+  {
+    frequency = frequency_min;
+  }
+  pca9685.setToFrequency(frequency);
+  frequency += constants::frequency_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/Constants.cpp

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+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 100;
+
+const uint8_t channel = 0;
+}

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/Constants.h

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+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+
+extern const uint8_t channel;
+}
+#endif

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/OffTimeSweepSingleDevice.ino

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+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+uint16_t off_time;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  pca9685.setToFrequency(constants::frequency);
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  off_time = time_min;
+
+  pca9685.setChannelOnTime(constants::channel,time_min);
+}
+
+void loop()
+{
+  if (off_time > time_max)
+  {
+    off_time = time_min;
+  }
+  pca9685.setChannelOffTime(constants::channel,off_time);
+  off_time += constants::time_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/Constants.cpp

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+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_addresses[DEVICE_COUNT] =
+{
+  0x40,
+  0x41,
+  0x42
+};
+const uint8_t device_index = 0;
+
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 100;
+
+const uint8_t channel = 0;
+}

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/Constants.h

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+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+enum{DEVICE_COUNT=3};
+extern const uint8_t device_addresses[DEVICE_COUNT];
+extern const uint8_t device_index;
+
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+
+extern const uint8_t channel;
+}
+#endif

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/OnTimeSweepMultipleDevices.ino

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+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+uint16_t on_time;
+
+void setup()
+{
+  pca9685.setWire(Wire);
+  for (uint8_t device_index=0; device_index<constants::DEVICE_COUNT; ++device_index)
+  {
+    pca9685.addDevice(constants::device_addresses[device_index]);
+  }
+  pca9685.resetAllDevices();
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setAllDevicesOutputsNotInverted();
+
+  pca9685.setAllDevicesToFrequency(constants::frequency);
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  on_time = time_min;
+
+  pca9685.setAllDeviceChannelsOffTime(PCA9685::DEVICE_ADDRESS_ALL,time_max);
+}
+
+void loop()
+{
+  if (on_time > time_max)
+  {
+    on_time = time_min;
+  }
+  pca9685.setAllDeviceChannelsOnTime(constants::device_addresses[constants::device_index],on_time);
+  on_time += constants::time_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/ServoController/Constants.cpp

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+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+
+const uint8_t channel = 0;
+
+const uint16_t servo_pulse_duration_min = 900;
+const uint16_t servo_pulse_duration_max = 2100;
+const uint16_t servo_pulse_duration_increment = 100;
+}

INF/libraries/PCA9685/examples/ServoController/Constants.h

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+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+
+extern const uint8_t channel;
+
+extern const uint16_t servo_pulse_duration_min;
+extern const uint16_t servo_pulse_duration_max;
+extern const uint16_t servo_pulse_duration_increment;
+}
+#endif

INF/libraries/PCA9685/examples/ServoController/ServoController.ino

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+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t servo_pulse_duration;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToServoFrequency();
+
+  servo_pulse_duration = constants::servo_pulse_duration_min;
+}
+
+void loop()
+{
+  if (servo_pulse_duration > constants::servo_pulse_duration_max)
+  {
+    servo_pulse_duration = constants::servo_pulse_duration_min;
+  }
+  pca9685.setChannelServoPulseDuration(constants::channel,servo_pulse_duration);
+  servo_pulse_duration += constants::servo_pulse_duration_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/SetChannelDutyCycle/Constants.cpp

@@ -0,0 +1,41 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    20.0, // DUTY_CYCLE
+    10.0, // PERCENT_DELAY
+  },
+  {
+    90.0, // DUTY_CYCLE
+    90.0, // PERCENT_DELAY
+  },
+  {
+    // Always ON
+    100.0, // DUTY_CYCLE
+    0.0, // PERCENT_DELAY
+  },
+  {
+    // Always OFF
+    0.0, // DUTY_CYCLE
+    0.0, // PERCENT_DELAY
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelDutyCycle/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  double duty_cycle;
+  double percent_delay;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelDutyCycle/SetChannelDutyCycle.ino

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+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelDutyCycle(constants::channel,example.duty_cycle,example.percent_delay);
+}

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/Constants.cpp

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+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    // ON_TIME < OFF_TIME
+    511, // ON_TIME
+    3071, // OFF_TIME
+  },
+  {
+    // ON_TIME < OFF_TIME
+    2047, // ON_TIME
+    767, // OFF_TIME
+  },
+  {
+    // Always ON
+    4096, // ON_TIME
+    0, // OFF_TIME
+  },
+  {
+    // Always OFF
+    0, // ON_TIME
+    4096, // OFF_TIME
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  uint16_t on_time;
+  uint16_t off_time;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/SetChannelOnAndOffTime.ino

@@ -0,0 +1,33 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelOnAndOffTime(constants::channel,example.on_time,example.off_time);
+}

INF/libraries/PCA9685/examples/SetChannelPulseWidth/Constants.cpp

@@ -0,0 +1,41 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    819, // PULSE_WIDTH
+    409, // PHASE_SHIFT
+  },
+  {
+    3686, // PULSE_WIDTH
+    3685, // PHASE_SHIFT
+  },
+  {
+    // Always ON
+    4096, // PULSE_WIDTH
+    0, // PHASE_SHIFT
+  },
+  {
+    // Always OFF
+    0, // PULSE_WIDTH
+    0, // PHASE_SHIFT
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelPulseWidth/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  uint16_t pulse_width;
+  uint16_t phase_shift;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelPulseWidth/SetChannelPulseWidth.ino

@@ -0,0 +1,33 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelPulseWidth(constants::channel,example.pulse_width,example.phase_shift);
+}

INF/libraries/PCA9685/examples/TestSetAndGet/Constants.cpp

@@ -0,0 +1,22 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const long baud = 115200;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 400;
+const double epsilon = 0.001;
+}

INF/libraries/PCA9685/examples/TestSetAndGet/Constants.h

@@ -0,0 +1,24 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const long baud;
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+extern const double epsilon;
+}
+#endif

INF/libraries/PCA9685/examples/TestSetAndGet/TestSetAndGet.ino

@@ -0,0 +1,105 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+#include <Streaming.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+
+uint8_t channel;
+
+uint16_t on_time_set;
+uint16_t off_time_set;
+uint16_t on_time_get;
+uint16_t off_time_get;
+
+uint16_t pulse_width_set;
+uint16_t phase_shift_set;
+uint16_t pulse_width_get;
+uint16_t phase_shift_get;
+
+double duty_cycle_set;
+double percent_delay_set;
+double duty_cycle_get;
+double percent_delay_get;
+
+void setup()
+{
+  Serial.begin(constants::baud);
+
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  pca9685.setToServoFrequency();
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  channel = 0;
+  on_time_set = time_min;
+  off_time_set = time_max;
+}
+
+void checkMatch(const char * s, bool match)
+{
+  if (match)
+  {
+    Serial << s << " get matches set.\n";
+  }
+  else
+  {
+    Serial << s << " get does not match set!\n";
+  }
+}
+
+void loop()
+{
+  if (on_time_set > off_time_set)
+  {
+    on_time_set = time_min;
+    off_time_set = time_max;
+  }
+  for (uint8_t channel=0; channel < pca9685.getChannelCount(); ++channel)
+  {
+    Serial << "frequency: " << pca9685.getFrequency() << "\n";
+    Serial << "channel: " << channel << ", on_time_set: " << on_time_set << ", off_time_set: " << off_time_set << "\n";
+    pca9685.setChannelOnAndOffTime(channel,on_time_set,off_time_set);
+    pca9685.getChannelOnAndOffTime(channel,on_time_get,off_time_get);
+    checkMatch("ChannelOnAndOffTime",((on_time_set == on_time_get) && (off_time_set == off_time_get)));
+
+    pca9685.setChannelOnTime(channel,on_time_set);
+    pca9685.getChannelOnTime(channel,on_time_get);
+    checkMatch("ChannelOnTime",(on_time_set == on_time_get));
+
+    pca9685.setChannelOffTime(channel,off_time_set);
+    pca9685.getChannelOffTime(channel,off_time_get);
+    checkMatch("ChannelOffTime",(off_time_set == off_time_get));
+
+    pulse_width_set = off_time_set - on_time_set;
+    phase_shift_set = on_time_set;
+    Serial << "channel: " << channel << ", pulse_width_set: " << pulse_width_set << ", phase_shift_set: " << phase_shift_set << "\n";
+    pca9685.setChannelPulseWidth(channel,pulse_width_set,phase_shift_set);
+    pca9685.getChannelPulseWidth(channel,pulse_width_get,phase_shift_get);
+    checkMatch("ChannelPulseWidth",((pulse_width_set == pulse_width_get) && (phase_shift_set == phase_shift_get)));
+
+    duty_cycle_set = (pulse_width_set * pca9685.getDutyCycleMax()) / pca9685.getTimeMax();
+    percent_delay_set = (phase_shift_set * pca9685.getPercentDelayMax()) / pca9685.getTimeMax();
+    Serial << "channel: " << channel << ", duty_cycle_set: " << duty_cycle_set << ", percent_delay_set: " << percent_delay_set << "\n";
+    pca9685.setChannelDutyCycle(channel,duty_cycle_set,percent_delay_set);
+    pca9685.getChannelDutyCycle(channel,duty_cycle_get,percent_delay_get);
+    checkMatch("ChannelDutyCycle",((abs(duty_cycle_set - duty_cycle_get) < constants::epsilon) && (abs(percent_delay_set - percent_delay_get) < constants::epsilon)));
+
+    Serial << "\n";
+    delay(constants::loop_delay);
+  }
+  on_time_set += constants::time_increment;
+  off_time_set -= constants::time_increment;
+}

INF/libraries/PCA9685/library.properties

@@ -0,0 +1,9 @@
+name=PCA9685
+version=2.1.4
+author=Peter Polidoro <peterpolidoro@gmail.com>
+maintainer=Peter Polidoro <peterpolidoro@gmail.com>
+sentence=PCA9685 16-channel 12-bit PWM controller.
+paragraph=Like this project? Please star it on GitHub!
+category=Device Control
+url=https://github.com/janelia-arduino/PCA9685.git
+architectures=*

INF/libraries/PCA9685/src/PCA9685.h

@@ -0,0 +1,363 @@
+// ----------------------------------------------------------------------------
+// PCA9685.h
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef PCA9685_H
+#define PCA9685_H
+#include <Arduino.h>
+#include <Wire.h>
+
+
+class PCA9685
+{
+public:
+  PCA9685();
+
+  const static uint8_t CHANNELS_PER_DEVICE = 16;
+  enum {DEVICE_COUNT_MAX=55};
+
+  // Convenience method when using a single device
+  void setupSingleDevice(TwoWire & wire=Wire,
+    uint8_t device_address=0x40,
+    bool fast_mode_plus=false);
+
+  // Methods for using a single device or multiple devices
+  void setupOutputEnablePin(size_t output_enable_pin);
+  void enableOutputs(size_t output_enable_pin);
+  void disableOutputs(size_t output_enable_pin);
+
+  uint16_t getFrequencyMin();
+  uint16_t getFrequencyMax();
+  void setToFrequency(uint16_t frequency);
+  uint16_t getFrequency();
+  void setToServoFrequency();
+  uint16_t getServoFrequency();
+
+  uint8_t getChannelCount();
+
+  double getDutyCycleMin();
+  double getDutyCycleMax();
+  double getPercentDelayMin();
+  double getPercentDelayMax();
+  void setChannelDutyCycle(uint8_t channel,
+    double duty_cycle,
+    double percent_delay=0);
+  void getChannelDutyCycle(uint8_t channel,
+    double & duty_cycle,
+    double & percent_delay);
+  void setAllChannelsDutyCycle(double duty_cycle,
+    double percent_delay=0);
+
+  uint16_t getPulseWidthMin();
+  uint16_t getPulseWidthMax();
+  uint16_t getPhaseShiftMin();
+  uint16_t getPhaseShiftMax();
+  void setChannelPulseWidth(uint8_t channel,
+    uint16_t pulse_width,
+    uint16_t phase_shift=0);
+  void getChannelPulseWidth(uint8_t channel,
+    uint16_t & pulse_width,
+    uint16_t & phase_shift);
+  void setAllChannelsPulseWidth(uint16_t pulse_width,
+    uint16_t phase_shift=0);
+
+  void setChannelServoPulseDuration(uint8_t channel,
+    uint16_t pulse_duration_microseconds);
+  void getChannelServoPulseDuration(uint8_t channel,
+    uint16_t & pulse_duration_microseconds);
+  void setAllChannelsServoPulseDuration(uint16_t pulse_duration_microseconds);
+
+  uint16_t getTimeMin();
+  uint16_t getTimeMax();
+  void setChannelOnAndOffTime(uint8_t channel,
+    uint16_t on_time,
+    uint16_t off_time);
+  void getChannelOnAndOffTime(uint8_t channel,
+    uint16_t & on_time,
+    uint16_t & off_time);
+  void setAllChannelsOnAndOffTime(uint16_t on_time,
+    uint16_t off_time);
+  void setChannelOnTime(uint8_t channel,
+    uint16_t on_time);
+  void getChannelOnTime(uint8_t channel,
+    uint16_t & on_time);
+  void setAllChannelsOnTime(uint16_t on_time);
+  void setChannelOffTime(uint8_t channel,
+    uint16_t off_time);
+  void getChannelOffTime(uint8_t channel,
+    uint16_t & off_time);
+  void setAllChannelsOffTime(uint16_t off_time);
+
+  void setOutputsInverted();
+  void setOutputsNotInverted();
+  void setOutputsToTotemPole();
+  void setOutputsToOpenDrain();
+  void setOutputsLowWhenDisabled();
+  void setOutputsHighWhenDisabled();
+  void setOutputsHighImpedanceWhenDisabled();
+
+  // Methods for using multiple devices
+  // Take care when using fast_mode_plus with non-PCA9685 devices
+  void setWire(TwoWire & wire=Wire,
+    bool fast_mode_plus=false);
+
+  // device_address=0x40 when all device address
+  // hardware select lines are low
+  // cannot use reserved addresses
+  void addDevice(uint8_t device_address);
+  void resetAllDevices();
+
+  void addDeviceToGroup0(uint8_t device_address);
+  void removeDeviceFromGroup0(uint8_t device_address);
+  void addDeviceToGroup1(uint8_t device_address);
+  void removeDeviceFromGroup1(uint8_t device_address);
+  void addDeviceToGroup2(uint8_t device_address);
+  void removeDeviceFromGroup2(uint8_t device_address);
+
+  void setSingleDeviceToFrequency(uint8_t device_address,
+    uint16_t frequency);
+  uint16_t getSingleDeviceFrequency(uint8_t device_address);
+  void setAllDevicesToFrequency(uint16_t frequency);
+  void setSingleDeviceToServoFrequency(uint8_t device_address);
+  uint16_t getSingleDeviceServoFrequency(uint8_t device_address);
+  void setAllDevicesToServoFrequency();
+
+  uint8_t getDeviceChannelCount();
+
+  // Use these device address to set more than one device at a time
+  // with the methods below
+  const static uint8_t DEVICE_ADDRESS_ALL = 0x70;
+  const static uint8_t DEVICE_ADDRESS_GROUP0 = 0x71;
+  const static uint8_t DEVICE_ADDRESS_GROUP1 = 0x72;
+  const static uint8_t DEVICE_ADDRESS_GROUP2 = 0x73;
+
+  void setDeviceChannelDutyCycle(uint8_t device_address,
+    uint8_t device_channel,
+    double duty_cycle,
+    double percent_delay=0);
+  void setAllDeviceChannelsDutyCycle(uint8_t device_address,
+    double duty_cycle,
+    double percent_delay=0);
+
+  void setDeviceChannelPulseWidth(uint8_t device_address,
+    uint8_t device_channel,
+    uint16_t pulse_width,
+    uint16_t phase_shift=0);
+  void setAllDeviceChannelsPulseWidth(uint8_t device_address,
+    uint16_t pulse_width,
+    uint16_t phase_shift=0);
+
+  void setDeviceChannelServoPulseDuration(uint8_t device_address,
+    uint8_t device_channel,
+    uint16_t pulse_duration_microseconds);
+  void setAllDeviceChannelsServoPulseDuration(uint8_t device_address,
+    uint16_t pulse_duration_microseconds);
+
+  void setDeviceChannelOnAndOffTime(uint8_t device_address,
+    uint8_t device_channel,
+    uint16_t on_time,
+    uint16_t off_time);
+  void setAllDeviceChannelsOnAndOffTime(uint8_t device_address,
+    uint16_t on_time,
+    uint16_t off_time);
+  void setDeviceChannelOnTime(uint8_t device_address,
+    uint8_t device_channel,
+    uint16_t on_time);
+  void setAllDeviceChannelsOnTime(uint8_t device_address,
+    uint16_t on_time);
+  void setDeviceChannelOffTime(uint8_t device_address,
+    uint8_t device_channel,
+    uint16_t off_time);
+  void setAllDeviceChannelsOffTime(uint8_t device_address,
+    uint16_t off_time);
+
+  void setSingleDeviceOutputsInverted(uint8_t device_address);
+  void setAllDevicesOutputsInverted();
+  void setSingleDeviceOutputsNotInverted(uint8_t device_address);
+  void setAllDevicesOutputsNotInverted();
+  void setSingleDeviceOutputsToTotemPole(uint8_t device_address);
+  void setAllDevicesOutputsToTotemPole();
+  void setSingleDeviceOutputsToOpenDrain(uint8_t device_address);
+  void setAllDevicesOutputsToOpenDrain();
+  void setSingleDeviceOutputsLowWhenDisabled(uint8_t device_address);
+  void setAllDevicesOutputsLowWhenDisabled();
+  void setSingleDeviceOutputsHighWhenDisabled(uint8_t device_address);
+  void setAllDevicesOutputsHighWhenDisabled();
+  void setSingleDeviceOutputsHighImpedanceWhenDisabled(uint8_t device_address);
+  void setAllDevicesOutputsHighImpedanceWhenDisabled();
+
+private:
+  const static uint8_t DEVICE_ADDRESS_MIN = 0x40;
+  const static uint8_t DEVICE_ADDRESS_MAX = 0x7B;
+  uint8_t device_count_;
+  uint8_t device_addresses_[DEVICE_COUNT_MAX];
+
+  TwoWire * wire_ptr_;
+  const static long FAST_MODE_PLUS_CLOCK_FREQUENCY = 1000000;
+
+  const static int NO_OUTPUT_ENABLE_PIN = -1;
+
+  const static int DEVICE_INDEX_NONE = -1;
+  const static int DEVICE_INDEX_ALL = -2;
+  const static int DEVICE_INDEX_GROUP0 = -3;
+  const static int DEVICE_INDEX_GROUP1 = -4;
+  const static int DEVICE_INDEX_GROUP2 = -5;
+  int deviceAddressToDeviceIndex(uint8_t device_address);
+
+  const static uint8_t GENERAL_CALL_DEVICE_ADDRESS = 0x00;
+  const static uint8_t SWRST = 0b110;
+
+  // Can write to one or more device at a time
+  // so use address rather than index
+  template<typename T>
+  void write(uint8_t device_address,
+    uint8_t register_address,
+    T data);
+  // Can only read from one device at a time
+  // so use index rather than address
+  template<typename T>
+  void read(uint8_t device_index,
+    uint8_t register_address,
+    T & data);
+
+  const static uint8_t MODE1_REGISTER_ADDRESS = 0x00;
+  union Mode1Register
+  {
+    struct
+    {
+      uint8_t allcall : 1;
+      uint8_t sub3 : 1;
+      uint8_t sub2 : 1;
+      uint8_t sub1 : 1;
+      uint8_t sleep : 1;
+      uint8_t ai : 1;
+      uint8_t extclk : 1;
+      uint8_t restart : 1;
+    } fields;
+    uint8_t data;
+  };
+  Mode1Register readMode1Register(uint8_t device_index);
+
+  const static uint8_t MODE2_REGISTER_ADDRESS = 0x01;
+  union Mode2Register
+  {
+    struct
+    {
+      uint8_t outne : 2;
+      uint8_t outdrv : 1;
+      uint8_t och : 1;
+      uint8_t invrt : 1;
+      uint8_t space : 3;
+    } fields;
+    uint8_t data;
+  };
+  Mode2Register readMode2Register(uint8_t device_index);
+
+  void sleep(uint8_t device_index);
+  void wake(uint8_t device_index);
+  void wakeAll();
+
+  void setPrescale(uint8_t device_index,
+    uint8_t prescale);
+  void getPrescale(uint8_t device_index,
+    uint8_t & prescale);
+  uint8_t frequencyToPrescale(uint16_t frequency);
+  uint16_t prescaleToFrequency(uint8_t prescale);
+
+  uint8_t channelToDeviceIndex(uint8_t channel);
+  uint8_t channelToDeviceChannel(uint8_t channel);
+
+  void dutyCycleAndPercentDelayToPulseWidthAndPhaseShift(double duty_cycle,
+    double percent_delay,
+    uint16_t & pulse_width,
+    uint16_t & phase_shift);
+  void pulseWidthAndPhaseShiftToDutyCycleAndPercentDelay(uint16_t pulse_width,
+    uint16_t phase_shift,
+    double & duty_cycle,
+    double & percent_delay);
+
+  void pulseWidthAndPhaseShiftToOnTimeAndOffTime(uint16_t pulse_width,
+    uint16_t phase_shift,
+    uint16_t & on_time,
+    uint16_t & off_time);
+  void onTimeAndOffTimeToPulseWidthAndPhaseShift(uint16_t on_time,
+    uint16_t off_time,
+    uint16_t & pulse_width,
+    uint16_t & phase_shift);
+
+  void servoPulseDurationToPulseWidthAndPhaseShift(uint16_t pulse_duration_microseconds,
+    uint16_t & pulse_width,
+    uint16_t & phase_shift);
+  void pulseWidthAndPhaseShiftToServoPulseDuration(uint16_t pulse_width,
+    uint16_t phase_shift,
+    uint16_t & pulse_duration_microseconds);
+
+  void setOutputsInverted(uint8_t device_index);
+  void setOutputsNotInverted(uint8_t device_index);
+  void setOutputsToTotemPole(uint8_t device_index);
+  void setOutputsToOpenDrain(uint8_t device_index);
+  void setOutputsLowWhenDisabled(uint8_t device_index);
+  void setOutputsHighWhenDisabled(uint8_t device_index);
+  void setOutputsHighImpedanceWhenDisabled(uint8_t device_index);
+
+  const static uint8_t DOES_NOT_RESPOND = 0;
+  const static uint8_t DOES_RESPOND = 1;
+  const static uint8_t SUBADR1_REGISTER_ADDRESS = 0x02;
+  const static uint8_t SUBADR2_REGISTER_ADDRESS = 0x03;
+  const static uint8_t SUBADR3_REGISTER_ADDRESS = 0x04;
+  const static uint8_t ALLCALLADR_REGISTER_ADDRESS = 0x05;
+
+  const static uint8_t LED0_ON_L_REGISTER_ADDRESS = 0x06;
+  const static uint8_t LED0_OFF_L_REGISTER_ADDRESS = 0x08;
+  const static uint8_t ALL_LED_ON_L_REGISTER_ADDRESS = 0xFA;
+  const static uint8_t ALL_LED_OFF_L_REGISTER_ADDRESS = 0xFC;
+  const static uint8_t LED_REGISTERS_SIZE = 4;
+  const static uint8_t BITS_PER_BYTE = 8;
+  const static uint8_t BITS_PER_TWO_BYTES = 16;
+  const static uint8_t BYTE_MAX = 0xFF;
+  const static uint16_t TWO_BYTE_MAX = 0xFFFF;
+
+  const static uint8_t PRE_SCALE_REGISTER_ADDRESS = 0xFE;
+  const static uint8_t PRE_SCALE_MIN = 0x03;
+  const static uint8_t PRE_SCALE_MAX = 0xFF;
+  // Use period instead of frequency to calculate prescale since it is linear
+  // Measured 1620 Hz at prescale value 0x03, 1E6/1620=617
+  // Datasheet says it should be 1526 Hz, 1E6/1526=655
+  const static uint16_t PWM_PERIOD_MIN_US = 617;
+  // Measured 25.3 Hz at prescale value 0xFF, 1E6/25.3=39525
+  // Datasheet says it should be 24 Hz, 1E6/24=41666
+  const static uint16_t PWM_PERIOD_MAX_US = 39525;
+  const static uint32_t MICROSECONDS_PER_SECOND = 1000000;
+
+  const static uint8_t OUTPUTS_INVERTED = 1;
+  const static uint8_t OUTPUTS_NOT_INVERTED = 0;
+  const static uint8_t OUTPUTS_TOTEM_POLE = 1;
+  const static uint8_t OUTPUTS_OPEN_DRAIN = 0;
+  const static uint8_t OUTPUTS_LOW_WHEN_DISABLED = 0b00;
+  const static uint8_t OUTPUTS_HIGH_WHEN_DISABLED = 0b01;
+  const static uint8_t OUTPUTS_HIGH_IMPEDANCE_WHEN_DISABLED = 0b10;
+
+  const static uint8_t SLEEP = 1;
+  const static uint8_t WAKE = 0;
+  const static uint8_t AUTO_INCREMENT_ENABLED = 1;
+  const static uint8_t AUTO_INCREMENT_DISABLED = 0;
+  const static uint8_t RESTART_ENABLED = 1;
+  const static uint8_t RESTART_DISABLED = 0;
+  const static uint8_t RESTART_CLEAR = 1;
+
+  const static uint16_t TIME_MIN = 0;
+  const static uint16_t TIME_MAX = 4096;
+
+  const static uint8_t PERCENT_MIN = 0;
+  const static uint8_t PERCENT_MAX = 100;
+
+  const static uint16_t SERVO_FREQUENCY = 50;
+  const static uint16_t SERVO_PERIOD_MICROSECONDS = 20000;
+
+};
+
+#include "PCA9685/PCA9685Definitions.h"
+
+#endif

INF/libraries/PCA9685/src/PCA9685/PCA9685Definitions.h

@@ -0,0 +1,46 @@
+// ----------------------------------------------------------------------------
+// PCA9685.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef PCA9685_DEFINITIONS_H
+#define PCA9685_DEFINITIONS_H
+
+
+template<typename T>
+void PCA9685::write(uint8_t device_address,
+  uint8_t register_address,
+  T data)
+{
+  int byte_count = sizeof(data);
+  wire_ptr_->beginTransmission(device_address);
+  wire_ptr_->write(register_address);
+  for (int byte_n=0; byte_n<byte_count; ++byte_n)
+  {
+    wire_ptr_->write((data >> (BITS_PER_BYTE * byte_n)) & BYTE_MAX);
+  }
+  wire_ptr_->endTransmission();
+}
+
+template<typename T>
+void PCA9685::read(uint8_t device_index,
+  uint8_t register_address,
+  T & data)
+{
+  int byte_count = sizeof(data);
+  int device_address = device_addresses_[device_index];
+  wire_ptr_->beginTransmission(device_address);
+  wire_ptr_->write(register_address);
+  wire_ptr_->endTransmission();
+
+  wire_ptr_->requestFrom(device_address,byte_count);
+  data = 0;
+  for (int byte_n=0; byte_n<byte_count; ++byte_n)
+  {
+    data |= (wire_ptr_->read()) << (BITS_PER_BYTE * byte_n);
+  }
+}
+
+#endif