Examples

Complete ESP32-S3 applications that exercise the driver on a PCA9685 board, from a full test suite to a 16-servo animation.

They run on an ESP32-S3 with the PCA9685 at 0x40 (SDA on GPIO4, SCL on GPIO5, 100 kHz); the pins are in esp32_pca9685_test_config.hpp and the port in esp32_pca9685_bus.hpp. CI builds every app below on each pull request.

The apps

App	What it shows	Source	CI
pca9685_comprehensive_test	Comprehensive PCA9685 driver test suite covering all functionality	pca9685_comprehensive_test.cpp	yes
pca9685_servo_demo	16-channel hobby servo demo with synchronized animations (1000-2000 µs)	pca9685_servo_demo.cpp	yes

Build and flash one (from examples/esp32, ESP-IDF environment loaded):

./scripts/build_app.sh pca9685_comprehensive_test Release
./scripts/flash_app.sh flash_monitor pca9685_comprehensive_test Release

Source of this table: examples/esp32/app_config.yml.

Set up once

git submodule update --init examples/esp32/scripts   # the HardFOC ESP-IDF build scripts
cd examples/esp32
. $IDF_PATH/export.sh                                 # ESP-IDF v5.5
./scripts/build_app.sh list                           # every app and build type

The scripts read app_config.yml (the same file this page's table comes from) and build each app as its own firmware image.

What to read in an example

You want to	Read
See every driver call exercised, with pass / fail output	pca9685_comprehensive_test.cpp
Drive hobby servos from pulse widths in microseconds	pca9685_servo_demo.cpp
Write an ESP-IDF port	esp32_pca9685_bus.hpp

The example folder's README has the wiring, the build options and the expected serial output.