Modified for PCA9685 compatible control board and SG90 compatible servo motors.

RPi	PCA9685	ext
---	V+	5V
3.3V	VCC
GPIO2	SDA
GPIO3	SCL
GPIO4	OE
GND	GND	GND

min and max of pulse at PWM Frequency 60Hz

130 - 550 / 4096

周波数をあげた方がシャキッと動くが、あまり高くできないモノもある。可動域、max側が狭まる感じ？ min, maxの範囲外になると振動が激しくなる。180度回転させなくていいのなら、可動域を狭めにしてPWM周波数をあげると良いかな。

python3 examples/multi-servo.py

Adafruit Python PCA9685

Python code to use the PCA9685 PWM servo/LED controller with a Raspberry Pi or BeagleBone black.

Installation

To install the library from source (recommended) run the following commands on a Raspberry Pi or other Debian-based OS system:

sudo apt-get install git build-essential python-dev
cd ~
git clone https://github.com/adafruit/Adafruit_Python_PCA9685.git
cd Adafruit_Python_PCA9685
sudo python setup.py install

Alternatively you can install from pip with:

sudo pip install adafruit-pca9685

Note that the pip install method won't install the example code.