I wrote a driver for the PCA9685 I2C PWM driver chip. This chip is intended to be used with LED applications but is also used in a number of servo and motor controller boards, including a few Adafruit and Waveshare boards among others. A couple of notable features I added that I haven't seen done in other similar packages: - The ability to update only certain channels in a ROS command, and not update all of them. This allows multiple ROS nodes to publish to the same command topic but take charge of different subsets of the 16 channels. - A timeout. If a channel isn't updated within that time, it gets set to 0. This is useful to avoid servos burning out if your control logic crashes, and also as a heartbeat timeout in the case of motor controllers. https://github.com/dheera/ros-pwm-pca9685 --- [Visit Topic](https://discourse.ros.org/t/new-pca9685-driver-for-ros/8299/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: