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adafruit 16 channel servo driver package

asked 2016-01-19 08:05:28 -0600

LukeH gravatar image

After a bit of a web search, I have come up dry on a ROS package for the Adafruit 16 Channel Servo Driver Board. It wouldn't be difficult to make one, I just want to make sure no one has seen one before I reinvent the wheel. Go to this link for the board itself. I'm thinking a simple subscription node that sends the necessary I2C commands to x40 from a RPi, and maybe a GUI joystick node that posts a topic with the 16 servo values. If anyone has seen it, please let me know. Thanks!

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answered 2016-01-19 12:08:02 -0600

inflo gravatar image

hi, i use the 16-Channel PWM / Servo HAT for Raspberry Pi which is perhaps the same chip.

i got a listener node, to which you can send int16 values for every servo, feel free to use it , or modify it

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Perfect thanks!

LukeH gravatar image LukeH  ( 2016-01-20 08:34:55 -0600 )edit

answered 2017-01-16 14:04:52 -0600

updated 2017-01-17 04:19:42 -0600

I have created a package that supports the I2C PWM control boards. (Currently it has only been tested on Raspberry Pi).

It supports absolute PWM control and proportional control.

Additionally, it supports geometry_msgs/Twist and drive configuration for akerman, differential, and mecanum.

The package is available here: The documentation is available here:

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Asked: 2016-01-19 08:05:28 -0600

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Last updated: Jan 17 '17