舵机的控制一般需要一个20ms左右的时基脉冲，该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分，总间隔为2ms。以180度角度伺服为例，那么对应的控制关系是这样的： 0.5ms--------------0度；1.0ms------------45度；1.5ms------------90度； 2.0ms-----------135度； 2.5ms-----------180度;

#include ,Wire.h,
#include ,Adafruit_PWMServoDriver.h,

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
//用于驱动板的级联

#define SERVOMIN  200 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  600 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
//uint8_t servonum = 0;

void setup() {
   Serial.begin(9600);
   Serial.println("16 channel Servo test!");
   pwm.begin();
   pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
}

// you can use this function if you'd like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
//如果您想以秒为单位设置脉冲长度，可以使用此功能，例如 setServoPulse（0,0.001）是~1毫秒的脉冲宽度。 它不精确！
void setServoPulse(uint8_t n, double pulse) {
   double pulselength;//精度浮点数
   pulselength = 1000000;   // 1,000,000 us per second
   pulselength /= 60;   // 60 Hz
   Serial.print(pulselength); Serial.println(" us per period");
   pulselength /= 4096;  // 12 bits of resolution
   Serial.print(pulselength); Serial.println(" us per bit");
   pulse *= 1000;
   pulse /= pulselength;
   Serial.println(pulse);
   pwm.setPWM(n, 0, pulse);
}
void loop() {
   // Drive each servo one at a time
   //Serial.println(servonum);
   for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; ) {
     pwm.setPWM(0, 0, pulselen);
    // pwm.setPWM(1, 0, pulselen-110);//角度在-110到+120之间调整120度
     setServoPulse(1, 0.1);
     pwm.setPWM(2, 0, pulselen);
     pwm.setPWM(3, 0, pulselen);
     pwm.setPWM(4, 0, pulselen);
     pwm.setPWM(5, 0, pulselen);
     pwm.setPWM(6, 0, pulselen);
     pwm.setPWM(7, 0, pulselen);
     pwm.setPWM(8, 0, pulselen);
     pwm.setPWM(9, 0, pulselen);
     pwm.setPWM(10, 0, pulselen);
     pwm.setPWM(11, 0, pulselen);
     pwm.setPWM(12, 0, pulselen);
     pwm.setPWM(13, 0, pulselen);
     pwm.setPWM(14, 0, pulselen);
     pwm.setPWM(15, 0, pulselen);
   }
   delay(500);
   for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
     pwm.setPWM(0, 0, pulselen);//调节范围-110到+110
     pwm.setPWM(1, 0, pulselen);
     pwm.setPWM(2, 0, pulselen);
     pwm.setPWM(3, 0, pulselen);
     pwm.setPWM(4, 0, pulselen);
     pwm.setPWM(5, 0, pulselen);
     pwm.setPWM(6, 0, pulselen);
     pwm.setPWM(7, 0, pulselen);
     pwm.setPWM(8, 0, pulselen);
     pwm.setPWM(9, 0, pulselen);
     pwm.setPWM(10, 0, pulselen);
     pwm.setPWM(11, 0, pulselen);
     pwm.setPWM(12, 0, pulselen);
     pwm.setPWM(13, 0, pulselen);
     pwm.setPWM(14, 0, pulselen);
     pwm.setPWM(15, 0, pulselen);
   }
   delay(500);
}