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I2C diagnostics

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Pending removal of Wire.h
This commit is contained in:
Asbelos 2020-09-07 16:19:55 +01:00
parent 20eef04ba7
commit 04d7b82c0d
1 changed files with 3 additions and 2 deletions
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5
PWMServoDriver.cpp
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@ -77,18 +77,19 @@ bool PWMServoDriver::setup(int board) {
* @brief Sets the PWM output to a servo * @brief Sets the PWM output to a servo
*/ */
void PWMServoDriver::setServo(byte servoNum, uint16_t value) { void PWMServoDriver::setServo(byte servoNum, uint16_t value) {
DIAG(F("\nsetServo %d %d\n"),servoNum,value);
int board=servoNum/16; int board=servoNum/16;
int pin=servoNum%16; int pin=servoNum%16;
if (setup(board)) { if (setup(board)) {
DIAG(F("\nSetServo %d %d\n"),servoNum,value);
Wire.beginTransmission(PCA9685_I2C_ADDRESS + board); Wire.beginTransmission(PCA9685_I2C_ADDRESS + board);
Wire.write(PCA9685_FIRST_SERVO + 4 * pin); // 4 registers per pin Wire.write(PCA9685_FIRST_SERVO + 4 * pin); // 4 registers per pin
Wire.write(0); Wire.write(0);
Wire.write(0); Wire.write(0);
Wire.write(value); Wire.write(value);
Wire.write(value >> 8); Wire.write(value >> 8);
Wire.endTransmission(); byte error=Wire.endTransmission();
if (error!=0) DIAG(F("\nSetServo error %d\n"),error);
} }
} }