4.0 Wiring Guide Arduino Uno and PCA9685 Servo Driver - SwollEngineAF/lipan GitHub Wiki

This wiki page documents the hardware wiring for connecting an Arduino Uno to a PCA9685 16-channel PWM servo driver. This setup is used for controlling multiple servo motors in the Lipan 2.0 robot platform.

• Board: Arduino Uno R3 (clone)

• Power Source: USB (for uploading code and logic power)

• Servo Power Source: External battery pack (connected to PCA9685 V+ and GND)

These must match your software configuration (e.g., pwm.setPWM(4, 0, value))

• Use a 6V–7.4V battery pack for V+ to supply sufficient power to all servos.

• DO NOT connect PCA9685 V+ directly to Arduino 5V pin — it cannot supply enough current.

• The GND of Arduino, PCA9685, and battery must be connected to complete the circuit.

• pwm.begin() is called in setup().

• Servos jitter or not moving → check battery.

• No servo response → check I2C wires (SDA/SCL).

• Use a multimeter to check V+ and signal lines.

• Adafruit PWM Servo Driver Library

Add this line to platformio.ini:

library = adafruit/Adafruit PWM Servo Driver Library@^2.4.1

📍For actual Arduino code, refer to the arduino/Arm/src/main.cpp in this repo.

Author: Syahiid Rasidi
Project: Lipan 2.0 Robot Platform
Last updated: 2025-05-29

This wiki page documents the hardware wiring for connecting an Arduino Uno to a PCA9685 16-channel PWM servo driver. This setup is used for controlling multiple servo motors in the Lipan 2.0 robot platform.

• Board: Arduino Uno R3 (clone)
• Power Source: USB (for uploading code and logic power)
• Servo Power Source: External battery pack (connected to PCA9685 V+ and GND)

✅ When wired correctly, the red "POWER" LED on the PCA9685 should light up.

These must match your software configuration (e.g., pwm.setPWM(4, 0, value))

• Use a 6V–7.4V battery pack for V+ to supply sufficient power to all servos.
• DO NOT connect PCA9685 V+ directly to Arduino 5V pin — it cannot supply enough current.
• The GND of Arduino, PCA9685, and battery must be connected to complete the circuit.

• pwm.begin() is called in setup().
• Servos jitter or not moving → check battery.
• No servo response → check I2C wires (SDA/SCL).
• Use a multimeter to check V+ and signal lines.

• [Adafruit PWM Servo Driver Library](https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library)

Add this line to platformio.ini:

library = adafruit/Adafruit PWM Servo Driver Library@^2.4.1

📍For actual Arduino code, refer to the arduino/Arm/src/main.cpp in this repo.

Author: Syahiid Rasidi Project: Lipan 2.0 Robot Platform Last updated: 2025-05-29