Build Instructions | Wiring the PCA9865 board to servos and Raspberry Pi Zero

Wiring Diagram

Wiring the PCA9865 board to servos and Raspberry Pi Zero

Links

Wiring the Servos to the PCA9685 board

Connect the servos using the diagram below as a guide. The PCA9685 has 16 ports for connecting to servos, the Quad only uses 8 of these.

The table below shows the wiring for each limb, leg and foot:

Servo # Side Front / Back Type
0 Left Front Leg
1 Left Front Foot
2 Left Back Leg
3 Left Back Foot
4 Right Back Leg
5 Right Back Foot
6 Right Front Leg
7 Right Front Foot

Wiring

Wiring to PCA9685 to Raspberry Pi Zero

Next, the PCA9685 board needs to be wired to the Raspberry Pi Zero. There are 5 pins that we need to connect:

PCA9685 Pin Description To Raspberry Pi Pin
GND Ground 6
SCL Sync Clock 5
SDA Sync Data 3
VCC 5v Voltage 4
V+ 5v 2

Please note the power supplied from the Raspberry Pi Zero to the Servos may not be suffient - you may need to attach a larger power supply (battery) to the Power + and GND at the top of the PCA9864 board.

Wiring

SMARS Quad Build Instructions
Print Parts Print the Servo Holders Fit the servo into the servo holders Fit the servo holders into the frame Print the servo arms Mount the servo holder into the servo arm Check the servo rotation Attach the other servo holders to the frame Print the feet x4 Mount the foot on the servo holder Check the servo rotation Download the Python code Wiring the quad