Circuit Documentation

Summary of the Circuit

This circuit is designed to control five servo motors using five potentiometers for position adjustment. An Arduino UNO microcontroller serves as the central processing unit, interfacing with an Adafruit 16-Channel 12-bit PWM Servo Driver via I2C communication to control the servos. The potentiometers provide analog input to the Arduino, which then translates these inputs into PWM signals to adjust the servos' positions. A separate power supply is included to provide adequate power to the servo driver and the servos.

Component List

Arduino UNO

• Microcontroller board based on the ATmega328P
• Features digital I/O pins, analog inputs, and various power outputs

Servo Motors (5x)

• Electrically controlled devices that can rotate to a specified position
• Each servo has three connections: ground (gnd), power (vcc), and control signal (pulse)

Adafruit 16-Channel 12-bit PWM Servo Driver - I2C

• An I2C-controlled PWM driver with a built-in clock
• Capable of driving multiple servos with precise timing

Potentiometers (5x)

• Variable resistors that provide a varying voltage output when turned
• Each potentiometer has three terminals: ground (GND), output (Output), and power (VCC)

Power Supply

• Provides power to the servo driver and servos
• Has positive (+) and negative (-) terminals

Wiring Details

Arduino UNO

• 5V connected to Adafruit PWM Servo Driver's 5.0V
• GND connected to Adafruit PWM Servo Driver's GND
• A1 to A5 connected to the outputs of the five potentiometers
• SCL connected to Adafruit PWM Servo Driver's SCL
• SDA connected to Adafruit PWM Servo Driver's SDA

Servo Motors

• All servos' gnd connected to Adafruit PWM Servo Driver's GND
• All servos' vcc connected to Adafruit PWM Servo Driver's 5.0V
• Servos' pulse connected to Adafruit PWM Servo Driver's PWM12, PWM11, PWM13, PWM14, and PWM15

Adafruit 16-Channel 12-bit PWM Servo Driver - I2C

• 5.0V and GND connected to Arduino UNO's 5V and GND
• SDA and SCL connected to Arduino UNO's SDA and SCL
• PWRIN connected to Power Supply's +
• GND connected to Power Supply's -
• VCC connected to all potentiometers' VCC
• GND connected to all potentiometers' GND
• PWM0 to PWM15 used to control servos

Potentiometers

• All potentiometers' VCC connected together and to Adafruit PWM Servo Driver's VCC
• All potentiometers' GND connected together and to Adafruit PWM Servo Driver's GND
• Each potentiometer's Output connected to a unique analog input on the Arduino UNO (A1 to A5)

Power Supply

• + connected to Adafruit PWM Servo Driver's PWRIN
• - connected to Adafruit PWM Servo Driver's GND

Documented Code

/*
 * This Arduino sketch controls 5 servos using 5 potentiometers.
 * Each potentiometer adjusts the position of a corresponding servo.
 * The Adafruit 16-Channel 12-bit PWM Servo Driver is used to control the servos.
 */

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

// Servo and potentiometer mappings
const int potPins[5] = {A1, A2, A3, A4, A5};
const int servoChannels[5] = {12, 13, 14, 15, 11};

void setup() {
  Serial.begin(9600);
  pwm.begin();
  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz
}

void loop() {
  for (int i = 0; i < 5; i++) {
    int potValue = analogRead(potPins[i]);
    int servoPos = map(potValue, 0, 1023, 150, 600);
    pwm.setPWM(servoChannels[i], 0, servoPos);
  }
  delay(15);  // Small delay to prevent jitter
}

This code initializes the Adafruit PWM Servo Driver and sets up a loop to read the analog values from the potentiometers. It maps these values to a range suitable for servo control and sends the corresponding PWM signals to the servos through the driver.