Waveshare Pan-Tilt HAT User Manual

Pan-Tilt HAT User Manual
Version: V1.0.0; Date: 2019.03.16 1 / 17
Pan-Tilt HAT
User Manual
OVERVIEW
This is a 2-DOF pan-tilt kit designed for Raspberry Pi. With onboard PCA9685 PWM
chip and TSL2581 ambient light sensor, it allows the Pi to control camera movement
and sense light intensity through I2C interface.
SPECIFICATION
Operating voltage：
3.3V/5V
PWM driver：
PCA9685
Working voltage：
3.3V
Interface：
I2C
Dimension：
56.6X65(mm)

Waveshare Pan-Tilt HAT Specifications

General

Weight	50g
Power Supply	5V
Control Interface	I2C
Pan Angle	180 degrees
Operating Voltage	5V
Logic Voltage	3.3V
PWM Driver	PCA9685
Resolution	12-bit
Compatibility	Raspberry Pi
Servo Channels	2
Motor Type	Servo
Compatible Raspberry Pi Models	Raspberry Pi A+/B+/2/3/4
Servo Type	Standard servo
Dimensions	65mm x 56mm
Tilt Angle	180°

Summary

Overview

Specifications

Operating Voltage

Specifies the voltage range for the Pan-Tilt HAT operation.

PWM Driver

Identifies the PCA9685 chip used for PWM control.

Working Voltage

Details the operational voltage requirement for the HAT.

Interface

Indicates the communication interface used, which is I2C.

Dimension

Provides the physical size of the Pan-Tilt HAT.

Hardware

Controller

Describes the PCA9685 PWM driver and TSL2581 light sensor.

Communication Protocol

Explains the I2C communication signals: Start, Stop, and ACK.

I2C Write Data

Details the data structure for writing information via I2C.

I2C Read Data

Illustrates the data structure for reading information via I2C.

I2C Address

Specifies the I2C addresses for PCA9685 and TSL2581 sensors.

How to Use

Download Examples

Guide to downloading demo code from the Waveshare Wiki.

Examples

Download Examples to Raspberry Pi

Instructions for cloning demo code from GitHub.

Install Libraries

Details on installing BCM2835 and wiringPi libraries.

Setup and Configuration

Enable I2C Interface

Steps to enable the I2C interface using raspi-config.

Assembly

Connect Servos

Guide for connecting servo motors to the Pan-Tilt HAT board.

Test Code

Instructions for running the servo test code.

Run Test Code

Commands to compile and execute the servo test program.

Servo and Light Sensor Examples

BCM2835 Examples

Commands to run servo and light sensor examples using BCM2835.

WiringPi Examples

Commands to run servo and light sensor examples using wiringPi.

Python Examples

Commands to run servo and light sensor examples using Python.

Camera Setup

Connect Camera

Steps to physically connect the camera module to the Raspberry Pi.

Enable Camera

Instructions to enable the camera interface via raspi-config.

Video Recording

Command to record video using the camera module.

Web Control

Modify Modules File

Instructions to modify the /etc/modules file for camera support.

Install Libraries for Web Control

Commands to install necessary libraries for web control.

Get IP Information

Steps to find the Raspberry Pi's IP address using ifconfig.

Modify main.py File

Instructions to edit the main.py script for web control.

Run Web Control Example

Command to execute the web control Python script.

Download Control Software

Instructions to download the AlphaBot control software.

Expected Results

Servo Driver Results

Describes the expected behavior of the servos.

Light Sensor Results

Describes the expected output of the light sensor.

FAQ

Light Sensor ID and Data Issues

Troubleshooting for light sensor ID and intensity data problems.

Example Execution Conflicts

Troubleshooting when wiringPi examples prevent Python/BCM2835 execution.