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