pca9685_lib

Raspberry Pi的PCA9685驱动程序 文档

此库使用tokio允许在程序运行（当然是一段时间）时运行其他任务，500us，但鉴于Rustaceans正在编写系统级代码，我认为这可能会提高一点性能。

快速入门

use rppal::i2c::{I2c};
use pca9865_lib::PCA9685;
use tokio::time::delay_for;
use std::time::Duration;

#[tokio::main]
async fn main() {
    //Create a new device with address 0x40. Note mutability.
    let mut device = PCA9685::new(0x40, I2c::new().unwrap()).unwrap();

    //Set the refresh rate to 50Hz, (re)start the chip when complete
    if let Err(_e) = device.set_prescale_fr(50, true).await {
        panic!();
    }

    //Servo fun time
    loop {
        
        //The chip divides the refresh rate into 4096 blocks
        //The first tuple is which block to turn on the pulse
        //The second tuple is which block to turn the pulse off (in this case ~two milliseconds after);
        if let Err(_e) = device.set_channel(0, (0, 0), (0x01, 0x97)) {
            panic!();
        }
        delay_for(Duration::from_secs(2)).await;
        //Set Mid
        if let Err(_e) = device.set_channel(0, (0, 0), (0x01, 0x33)) {
            panic!();
        }
        delay_for(Duration::from_secs(2)).await;
        //Set Min
        if let Err(_e) = device.set_channel(0, (0, 0), (0x00, 0xCD)) {
            panic!();
        }
        delay_for(Duration::from_secs(2)).await;
        //Set Mid
        if let Err(_e) = device.set_channel(0, (0, 0), (0x01, 0x33)) {
            panic!();
        }
        delay_for(Duration::from_secs(2)).await;
    }

}