i2cpwm_board  0.5.1
ROS Package for PCA9685 based 16 channel PWM Board with I2C Interface
Functions
i2cpwm_controller.cpp File Reference

controller for I2C interfaced 16 channel PWM boards with PCA9685 chip More...

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <linux/i2c-dev.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <std_srvs/Empty.h>
#include <geometry_msgs/Twist.h>
#include "i2cpwm_board/Servo.h"
#include "i2cpwm_board/ServoArray.h"
#include "i2cpwm_board/ServoConfig.h"
#include "i2cpwm_board/ServoConfigArray.h"
#include "i2cpwm_board/ServosConfig.h"
#include "i2cpwm_board/DriveMode.h"
#include "i2cpwm_board/Position.h"
#include "i2cpwm_board/PositionArray.h"
#include "i2cpwm_board/IntValue.h"

Go to the source code of this file.

Functions

void servos_absolute (const i2cpwm_board::ServoArray::ConstPtr &msg)
 subscriber topic to move servos in a physical position More...
 
void servos_proportional (const i2cpwm_board::ServoArray::ConstPtr &msg)
 subscriber topic to move servos in the range of ±1.0 More...
 
void servos_drive (const geometry_msgs::Twist::ConstPtr &msg)
 subscriber topic to move servos based on a drive mode More...
 
bool set_pwm_frequency (i2cpwm_board::IntValue::Request &req, i2cpwm_board::IntValue::Response &res)
 service to set set PWM frequency More...
 
bool config_servos (i2cpwm_board::ServosConfig::Request &req, i2cpwm_board::ServosConfig::Response &res)
 store configuration data for servos on the active board More...
 
bool config_drive_mode (i2cpwm_board::DriveMode::Request &req, i2cpwm_board::DriveMode::Response &res)
 set drive mode and drive servos More...
 
bool stop_servos (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 service to stop all servos on all boards More...
 

Detailed Description

controller for I2C interfaced 16 channel PWM boards with PCA9685 chip

Author
Bradan Lane Studio info@.nosp@m.brad.nosp@m.anlan.nosp@m.e.co.nosp@m.m

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

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 BRADAN LANE STUDIOS 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.

Please send comments, questions, or patches to info@.nosp@m.brad.nosp@m.anlan.nosp@m.e.co.nosp@m.m

Definition in file i2cpwm_controller.cpp.