PCA9685 PWM / Servo Driver

Functions
Sexpr_t	PCA9685_mop3_begin (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setupSingleDevice (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setSingleDeviceToFrequency (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_getSingleDeviceFrequency (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setChannelDutyCycle (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setChannelPulseWidth (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setChannelServoPulseDuration (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_mop3_setChannelOnAndOffTime (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)
Sexpr_t	PCA9685_install_mop3 (Lamb &lamb, Sexpr_t sexpr, Sexpr_t env_exec)

Variables
PCA9685 *	pca9685 = 0

Detailed Description

LambLisp PCA9685 PWM / Servo Driver builtins.

Function Documentation

PCA9685_mop3_begin()

Sexpr_t PCA9685_mop3_begin	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Initialize PCA9685 at I2C addr via Wire; sets 50 Hz PWM frequency.

PCA9685_mop3_setupSingleDevice()

Sexpr_t PCA9685_mop3_setupSingleDevice	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Configure a single PCA9685 device on the Wire bus at the given I2C address.

PCA9685_mop3_setSingleDeviceToFrequency()

Sexpr_t PCA9685_mop3_setSingleDeviceToFrequency	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Set PWM oscillator frequency (Hz) for a single device at the given I2C address.

PCA9685_mop3_getSingleDeviceFrequency()

Sexpr_t PCA9685_mop3_getSingleDeviceFrequency	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Read back the PWM oscillator frequency (Hz) for a single device at the given address.

PCA9685_mop3_setChannelDutyCycle()

Sexpr_t PCA9685_mop3_setChannelDutyCycle	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Set channel duty cycle as a fraction [0.0, 1.0] with optional phase shift fraction.

PCA9685_mop3_setChannelPulseWidth()

Sexpr_t PCA9685_mop3_setChannelPulseWidth	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Set channel pulse width in raw 12-bit ticks (0–4095).

PCA9685_mop3_setChannelServoPulseDuration()

Sexpr_t PCA9685_mop3_setChannelServoPulseDuration	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Set channel servo pulse duration in microseconds.

PCA9685_mop3_setChannelOnAndOffTime()

Sexpr_t PCA9685_mop3_setChannelOnAndOffTime	(	Lamb &	lamb,
		Sexpr_t	sexpr,
		Sexpr_t	env_exec )

Set channel on-time and off-time in raw 12-bit ticks; on-time anchored at 0.