pca9685: Fix initial setup

Signed-off-by: Patrick José Pereira <[email protected]>
bluerobotics · Nov 27, 2024 · 179ac24 · 179ac24
1 parent 3f2d1c9
commit 179ac24
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/pca9685.rs b/src/pca9685.rs
@@ -86,7 +86,7 @@ impl Pca9685DeviceBuilder {
     /// Builds the `Pca9685Device`.
     pub fn build(self) -> Result<Pca9685Device, Box<dyn Error>> {
         let device = I2cdev::new(self.i2c_bus)?;
-        let pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
+        let mut pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
 
         let oe_pin = {
             let pin = Pin::new(self.oe_pin_number);
@@ -96,6 +96,10 @@ impl Pca9685DeviceBuilder {
             pin
         };
 
+        pwm.reset_internal_driver_state();
+        pwm.use_external_clock().unwrap();
+        pwm.enable().unwrap();
+
         Ok(Pca9685Device {
             pwm,
             oe_pin,