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@@ -0,0 +1,37 @@
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+const i2cBus = require("i2c-bus")
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+const { Pca9685Driver } = require("pca9685")
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+
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+class ContrlService {
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+ constructor() {
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+ // PWM 和 舵机配置
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+ this.pwmOption = {
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+ i2c: i2cBus.openSync(1), // 树莓派1：scl1
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+ address: 0x40, //板子地址
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+ frequency: 50, //频率
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+ debug: false
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+ }
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+ // init PWM
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+ this.PWM = new Pca9685Driver(this.pwmOption, er => {
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+ if (er) {
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+ console.error("Error initializing PCA9685");
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+ }
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+ })
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+ console.log('测试开始');
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+ // test
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+ let a = 128
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+ setInterval(() => {
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+ this.PWM.setPulseLength(3, this.Servo2pwm(a));
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+ console.log(a);
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+ }, 50);
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+ }
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+
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+ /**
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+ * 舵机换算比例：摇杆范围0-256，PWM范围1000~1500~2000
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+ * @param {number} v
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+ * @returns
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+ */
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+ Servo2pwm(v) {
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+ return parseInt(v / (256 / 1000)) + 1000
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+ }
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+}
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+new ContrlService()
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