current control for cheap servo sg90 arduino serial command (open and close ). Ina219 for current control and PCA9685 for pwm servo for ina 219 A0=high for i2C adress https://youtu.be/XHSrkytB_Yk?si=gWNvpHcsNl53Dhx7
l2ktech/AmazingHand-with-sg90-servo-force-control
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