Управление сервоприводом SG90 с помощью PCA9685 из Python на Raspberry Pi/Orange Pi/Banana Pi

Сервопривод — это мотор-редуктор, способный поворачивать выходной вал в заданное положение (на заданный угол) и удерживать его в этом положении, вопреки сопротивлениям и возмущениям. Сервопривод Tower Pro 9g SG90 не имеет мощные характеристики (всего 1,2-1,6 кг*см), но имеет недорогую цену. Отлично подходит для управления небольшими легкими механизмами под управлением контроллеров Arduino, Raspberry Pi  и т.п.. Рабочее напряжение Tower Pro 9g SG90 от 3В до 7.2В, угол поворота ограничен диапазоном от 0 до 180 градусов (в реальность — чуть больше).

Управление сервоприводом SG90 с помощью PCA9685 из Python на Raspberry Pi

В этой статье будем управлять сервоприводом SG90 с помощью PCA9685 из Python на Orange Pi PC. Можно использовать Raspberry Pi, Banana Pi, NanoPi или любой другой мини-компьютер под управлением ОС Linux имеющий I2C порт.

Библиотека на Python для PCA9685

Поскольку библиотека Adafruit_Python_PCA9685 для работы с PCA9685 из Python работает только на Raspberry Pi, она была переписана так, чтобы ее можно было использовать на Orange Pi и Banana Pi. Теперь используется SMBus в качестве I2C драйвера, как установить тут: SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi.

Файл PCA9685.py

import logging
import time
import math

# Based on Adafruit Lib:
# https://github.com/adafruit/Adafruit_Python_PCA9685/blob/master/Adafruit_PCA9685/PCA9685.py

# Default address:
PCA9685_ADDRESS    = 0x40

# Registers/etc:
MODE1              = 0x00
MODE2              = 0x01
SUBADR1            = 0x02
SUBADR2            = 0x03
SUBADR3            = 0x04
PRESCALE           = 0xFE
LED0_ON_L          = 0x06
LED0_ON_H          = 0x07
LED0_OFF_L         = 0x08
LED0_OFF_H         = 0x09
ALL_LED_ON_L       = 0xFA
ALL_LED_ON_H       = 0xFB
ALL_LED_OFF_L      = 0xFC
ALL_LED_OFF_H      = 0xFD

# Bits:
RESTART            = 0x80
SLEEP              = 0x10
ALLCALL            = 0x01
INVRT              = 0x10
OUTDRV             = 0x04

# Channels
CHANNEL00          = 0x00
CHANNEL01          = 0x01
CHANNEL02          = 0x02
CHANNEL03          = 0x03
CHANNEL04          = 0x04
CHANNEL05          = 0x05
CHANNEL06          = 0x06
CHANNEL07          = 0x07
CHANNEL08          = 0x08
CHANNEL09          = 0x09
CHANNEL10          = 0x0A
CHANNEL11          = 0x0B
CHANNEL12          = 0x0C
CHANNEL13          = 0x0D
CHANNEL14          = 0x0E
CHANNEL15          = 0x0F

class PCA9685(object):
    def __init__(self, i2cBus, address=PCA9685_ADDRESS):
        self.i2cBus = i2cBus
        self.address = address
        self.begin()

    def begin(self):
        """Initialize device"""
        self.set_all_pwm(0, 0)
        self.i2cBus.write_byte_data(self.address, MODE2, OUTDRV)
        self.i2cBus.write_byte_data(self.address, MODE1, ALLCALL)
        time.sleep(0.005)                                         # wait for oscillator
        mode1 = self.i2cBus.read_byte_data(self.address, MODE1)
        mode1 = mode1 & ~SLEEP                                    # wake up (reset sleep)
        self.i2cBus.write_byte_data(self.address, MODE1, mode1)
        time.sleep(0.005)                                         # wait for oscillator

    def reset(self):
        self.i2cBus.write_byte_data(self.address, MODE1, RESTART)
        time.sleep(0.01)

    def set_address(self, address):
        """Sets device address."""
        self.address = address

    def set_i2c_bus(self, i2cBus):
        """Sets I2C Bus."""
        self.i2cBus = i2cBus

    def set_pwm(self, channel, on, off):
        """Sets a single PWM channel."""
        self.i2cBus.write_byte_data(self.address, LED0_ON_L + 4 * channel, on & 0xFF)
        self.i2cBus.write_byte_data(self.address, LED0_ON_H + 4 * channel, on >> 8)
        self.i2cBus.write_byte_data(self.address, LED0_OFF_L + 4 * channel, off & 0xFF)
        self.i2cBus.write_byte_data(self.address, LED0_OFF_H + 4 * channel, off >> 8)

    def set_all_pwm(self, on, off):
        """Sets all PWM channels."""
        self.i2cBus.write_byte_data(self.address, ALL_LED_ON_L, on & 0xFF)
        self.i2cBus.write_byte_data(self.address, ALL_LED_ON_H, on >> 8)
        self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_L, off & 0xFF)
        self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_H, off >> 8)

    def set_pwm_freq(self, freq_hz):
        """Set the PWM frequency to the provided value in hertz."""
        prescaleval = 25000000.0                                  # 25MHz
        prescaleval /= 4096.0                                     # 12-bit
        prescaleval /= float(freq_hz)
        prescaleval -= 1.0
        prescale = int(math.floor(prescaleval + 0.5))
        oldmode = self.i2cBus.read_byte_data(self.address, MODE1)
        newmode = (oldmode & 0x7F) | 0x10                         # sleep
        self.i2cBus.write_byte_data(self.address, MODE1, newmode) # go to sleep
        self.i2cBus.write_byte_data(self.address, PRESCALE, prescale)
        self.i2cBus.write_byte_data(self.address, MODE1, oldmode)
        time.sleep(0.005)
        self.i2cBus.write_byte_data(self.address, MODE1, oldmode | 0x80)

    def __enter__(self):
        return self

    def __exit__(self, exception_type, exception_value, traceback):
        self.reset()

Описание методов (функций)

__init__()

Конструктор класса.

__init__(self, i2cBus, address=PCA9685_ADDRESS)

Параметры
i2cBus — Объект типа PCA9685.
address — I2C адрес устройства. По умолчанию PCA9685_ADDRESS = 0x40.

begin()

Инициализация устройства.

begin(self)

set_address()

Установка адреса устройства.

set_address(self, address)

Параметры
address — I2C адрес устройства.

set_i2c_bus()

Установка I2C шины.

set_i2c_bus(self, i2cBus)

Параметры
i2cBus — Объект типа PCA9685.

set_pwm()

Устанавливает ШИМ одного из выводов PCA9685.

set_pwm(self, channel, on, off)

Параметры
channel — Один из выводов PWM от 0 до 15.
on — В какой момент цикла из 4096 частей включить ШИМ.
off — В какой момент цикла из 4096 частей выключить ШИМ.

set_all_pwm()

Устанавливает ШИМ на все выводы PCA9685.

set_all_pwm(self, on, off)

Параметры
on — В какой момент цикла из 4096 частей включить ШИМ.
off — В какой момент цикла из 4096 частей выключить ШИМ.

set_pwm_freq()

Устанавливает частоту ШИМ для всего чипа, до ~ 1,6 кГц.

set_pwm_freq(self, freq_hz)

Параметры
freq_hz — Частота в Герцах.

Библиотека на Python для сервоприводов

Для более удобного управления сервоприводом, основные функции были собраны в одном классе — ServoPCA9685. Тут можно найти минимальную (servo_min = 130) и максимальную (servo_max = 510) длину импульса для безопасного управления сервоприводом SG90.

# Configure min and max servo pulse lengths
servo_min = 130
servo_max = 510

Если ваш сервопривод работает с другими значениями, тогда вы можете редактировать их.

Файл ServoPCA9685.py

import time
# Servo with PCA9685 implementation

# Configure min and max servo pulse lengths
servo_min = 130 # Min pulse length out of 4096 / 150/112
servo_max = 510 # Max pulse length out of 4096 / 600/492

def map(x, in_min, in_max, out_min, out_max):
    return (x - in_min) * (out_max - out_min + 1) / (in_max - in_min + 1) + out_min

class ServoPCA9685(object):
    def __init__(self, pca9685, channel):
        self.pca9685 = pca9685
        self.channel = channel
        self.set_pwm_freq(50)
        self.set_pulse(300)

    def set_pwm_freq(self, freq=50):
        self.pca9685.set_pwm_freq(freq)
        time.sleep(0.005)

    def set_angle(self, angle):
        self.set_pulse(map(angle, 0, 180, servo_min, servo_max))

    def set_pulse(self, pulse):
        if pulse >= servo_min and pulse <= servo_max:
            self.pca9685.set_pwm(self.channel, 0, pulse)
            time.sleep(0.005)

    def disable(self):
        self.pca9685.set_pwm(self.channel, 0, 0)
        time.sleep(0.005)

Описание методов (функций)

__init__()

Конструктор класса.

__init__(self, pca9685, channel)

pca9685 — Объект типа PCA9685.
channel — Один из ШИМ выводов PCA9685 от 0 до 15.

set_pwm_freq()

Установка частоты ШИМ для вашего сервопривода.

set_pwm_freq(self, freq=50)

freq — Частота в Герцах. По умолчанию freq=50.

set_angle()

Установка примерного угла сервопривода.

set_angle(self, angle)

angle — Угол от 0 до 180 градусов.

set_pulse()

Установка длины импульса.

set_pulse(self, pulse)

pulse — Длина ШИМ импульса.

disable()

Отключение сервопривода (установка длины импульса в ноль «0»).

disable(self)

Примеры программ

Схема подключения сервопривода SG90 к PCA9685

Схема подключения сервопривода SG90 к PCA9685 и Orange Pi OneУправление одним сервоприводом SG90

Чтобы управлять сервоприводом посредством PCA9685 нужно соблюдать следующие шаги:

  1. Нужно открыть шину I2C «0» (или «1»);
    i2cBus = smbus.SMBus(0)
  2. Создаём объект класса PCA9685, а в качестве параметра конструктора используем выше созданный объект: i2cBus;
    pca9685 = PCA9685.PCA9685(i2cBus)
  3. Создаём объект класса ServoPCA9685 для управления одного сервопривода, в качестве первого параметра используем выше созданный объект, pca9685, а второй параметр — это номер канала PCA9685, можно выбрать следующие значения: PCA9685.CHANNEL00PCA9685.CHANNEL01PCA9685.CHANNEL02, …, PCA9685.CHANNEL15 или номера от 0 до 15;
    servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)
  4. Для управления сервоприводом можно использовать два метода, а именно: set_pulse(pulse), где pulse — это длина ШИМ импульса от servo_min = 130 до servo_max = 510; и set_angle(angle), где angle — это угол поворота от 0 до 180 градусов, метод (функция) пропорционально переносит значение из текущего диапазона значений в градусах (от 0 до 180) в новый диапазон (от 130 до 510) в импульсах.

Нижеприведённый пример кода поварачивает сервопривод в одну сторону,

# 130 -> 510
for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1):
    servo00.set_pulse(pulse)
    time.sleep(0.01)

потом в другую

# 510 -> 130
for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)):
    servo00.set_pulse(pulse)
    time.sleep(0.01)

с использованием метода set_pulse(pulse), а в конце отключает подаваемый на сервопривод ШИМ.

servo00.disable()

Файл servo_1x_pulse.py

Пример управления сервоприводом используя метод set_pulse(pulse).

import time
import smbus
import PCA9685
import ServoPCA9685

i2cBus = smbus.SMBus(0)
pca9685 = PCA9685.PCA9685(i2cBus)
servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)

# 130 -> 510
for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1):
    servo00.set_pulse(pulse)
    time.sleep(0.01)

# 510 -> 130
for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)):
    servo00.set_pulse(pulse)
    time.sleep(0.01)

servo00.disable()

Файл servo_1x_angle.py

Пример управления сервоприводом используя метод set_angle(angle).

import time
import smbus
import PCA9685
import ServoPCA9685

i2cBus = smbus.SMBus(0)
pca9685 = PCA9685.PCA9685(i2cBus)
servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)

# 0 - > 180
for angle in range(0, 180 + 1):
    servo00.set_angle(angle)
    time.sleep(0.01)

# 180 -> 0
for angle in reversed(range(0, 180 + 1)):
    servo00.set_angle(angle)
    time.sleep(0.01)

servo00.disable()

Управление несколькими сервоприводами SG90

Управлять несколькими сервоприводами можно аналогичным способом, как и одним. Единственное отличие в том, что нужно создать для каждого сервопривода отдельный экземпляр класса ServoPCA9685. К примеру:

servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)
servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01)
servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02)
servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03)

каждый объект должен иметь отличное от других имя и свой собственный канал (от 0 до 15).

servo_Nx_pulse.py

Пример управления несколькими (четырьмя) сервоприводами используя метод set_pulse(pulse).

import time
import smbus
import PCA9685
import ServoPCA9685

i2cBus = smbus.SMBus(0)
pca9685 = PCA9685.PCA9685(i2cBus)
servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)
servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01)
servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02)
servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03)

# 130 -> 510
for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1):
    servo00.set_pulse(pulse)
    servo01.set_pulse(pulse)
    servo02.set_pulse(pulse)
    servo03.set_pulse(pulse)
    time.sleep(0.01)

# 510 -> 130
for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)):
    servo00.set_pulse(pulse)
    servo01.set_pulse(pulse)
    servo02.set_pulse(pulse)
    servo03.set_pulse(pulse)
    time.sleep(0.01)

servo00.disable()
servo01.disable()
servo02.disable()
servo03.disable()

Материалы

Все файлы в одном архиве (Скачать zip архив)
SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi
GitHub — adafruit/Adafruit_Python_PCA9685: Python code to use the PCA9685 PWM servo/LED controller with a Raspberry Pi or BeagleBone black.

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    sսch as England lock Maro Itoje

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    Newcastle 35-30 Sale: Late Rob Vickesrs tгy sees upwardly…

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    Matt Hart ⲟf Stellar Management Groᥙp

    Toby Faletau, Βen Te’o and Marcus Smith arе аlso part of tһe
    Stellar ranks, ѡhose football arm represents the likes of Gareth Bale.

    Ꮇore than £650,000 wwas deposited іn a Bet365
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    Hart ɑlso failed to cooperate ԝith ɑn RFU
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    Tһe RFUshared thе outcome wіtһ World Rugby, Premiership
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    beеn in touch witһ the Agents Review Board.

    Hart’ѕ оld profile boasted оf hіm beіng involved
    in Taulupe Faletau’ѕ deal with Bath

    Haart ԝas involvesd in some of thee biggest deals іn rugby including Bеn Te’o’smove

    RPA Ruby Director, Richard Bryan, has alѕo briefed players.

    ‘We collaborate on a numbеr of anti-corruption initiatives andd edducate
    ᧐ur members annually οn integrity issues, ѡith
    the сlear message that players ɑnd those connected witһ the game cannot bet on аny rugby matches,
    ‘ һe ѕaid.

    Hart told tһe panel he was put under ‘real motional pressure’ by his
    father David, а former professional gambler, tо pⅼace tһе bets on һіs behalf.

    Sportsmail contacted representatives oof Stellar Management Ԍroup οn Saturday, but
    they were unavailable fоr сomment.

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    Agent of England star Maro Itoje banned fօr two years after…

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    with interactive exhibits and engaging displays.
    — **Dr. Phillips Center for the Performing Arts:** A
    modern venue hosting various live performances, including Broadway shows.

    **Why Choose Freedman’s Ergonomic Office Chairs in Orlando**

    Opting for Freedman’s ergonomic office chairs in Orlando is more than just a decision—it’s a commitment to excellence.
    Elevate your workspace with our stylish and comfortable chairs, embodying the spirit of innovation and
    success that defines Orlando’s dynamic professional
    landscape.
    »
    «Revolutionize Your Workspace with Freedman’s Office Chairs in Atlanta

    **Experience Unparalleled Comfort: Freedman’s Office Chairs
    in Atlanta**

    Nestled at 3379 Peachtree Rd NE, Atlanta, GA 30326, Freedman’s Office
    Furniture proudly introduces its exceptional collection of office chairs to the dynamic city of Atlanta.

    Serving neighborhoods like Ansley Park and Buckhead, Freedman’s delivers office seating
    solutions that seamlessly combine ergonomic design with aesthetic appeal.

    **Redesigning Your Office Aesthetic: Freedman’s Office Chairs in Atlanta**

    Founded in 1836, Atlanta has evolved into a bustling metropolis with a 2021 population of 496,461 and 227,388 households.
    Freedman’s commitment to providing top-notch office chairs perfectly complements
    Atlanta’s modern and diverse atmosphere, offering residents seating solutions that embody both
    innovation and style.

    **Navigating the Cityscape: The Significance of Interstate 20**

    Much like the connectivity provided by Interstate 20,
    Freedman’s ergonomic office chairs seamlessly integrate into Atlanta’s diverse professional landscape.
    Reflecting Atlanta’s status as a cultural and economic
    hub, our chairs offer residents unparalleled comfort and style, making them the preferred choice for those seeking an exceptional seating experience.

    **A Commitment to Excellence: Choosing Freedman’s Chairs in Atlanta**

    In a city known for its rich history and cultural landmarks, choosing Freedman’s ergonomic office chairs is a statement of commitment to excellence.
    Our chairs not only enhance the visual appeal of your workspace but also align with Atlanta’s reputation for fostering innovation and success.

    **Explore Atlanta’s Rich Heritage and Relax in Freedman’s Chairs**

    Discover the vibrant history of Atlanta while enjoying the unrivaled comfort of Freedman’s ergonomic office chairs.

    Here are five intriguing facts about some
    of Atlanta’s iconic landmarks:

    — **Atlanta History Center:** A comprehensive history museum featuring exhibits on the Civil War and Southern history.

    — **Piedmont Park:** Atlanta’s premier green space,
    offering walking paths, sports facilities, and beautiful scenery.

    — **Martin Luther King Jr. National Historic Site:** Preserving the
    childhood home of the civil rights leader and featuring the Ebenezer Baptist Church.

    — **The Fox Theatre:** A historic performing arts venue
    known for its grand architecture and diverse entertainment.

    — **The High Museum of Art:** Atlanta’s leading art museum, showcasing a diverse collection of artwork.

    **Why Freedman’s Ergonomic Office Chairs Stand Out in Atlanta**

    Choosing Freedman’s ergonomic office chairs in Atlanta is a decision that transcends mere furniture.
    It’s a commitment to elevating your workspace with stylish
    and comfortable seating that resonates with Atlanta’s spirit of progress
    and achievement.

  • Revolutionize Your Workspace with Freedman’s Office Chairs in Atlanta

    **Embrace Productivity and Comfort: Freedman’s Office Chairs in Atlanta**

    In the bustling city of Atlanta, where innovation meets tradition, Freedman’s Office Furniture
    introduces its exclusive range of ergonomic office chairs.

    Located at 3379 Peachtree Rd NE, Atlanta, GA 30326, our showroom caters to the
    discerning tastes of residents in neighborhoods like
    Ansley Park and Baker Hills, offering premium office seating solutions that
    combine style and functionality.

    **Elevate Your Workspace in the Heart of Atlanta**

    Atlanta, founded in 1836, stands as a testament to a rich history and a
    thriving metropolis. With a population of 496,461 (2021)
    and 227,388 households, the city continues to evolve while preserving its unique charm.
    Freedman’s commitment to providing modern office chairs aligns seamlessly with Atlanta’s spirit of progress and
    dynamism.

    **Navigating the Urban Hub: Interstate 20**

    Much like the smooth flow of Interstate 20, Freedman’s ergonomic
    office chairs embody a perfect blend of form and function. This mirrors Atlanta’s commitment to providing a conducive environment for businesses to flourish and individuals to
    excel in their professional endeavors.

    **Investing in Style: A Wise Choice for Atlanta Professionals**

    In a city that values aesthetics and innovation, opting for Freedman’s ergonomic office chairs is a statement of sophistication. Our collection not only enhances the visual appeal of your workspace
    but also complements Atlanta’s commitment
    to creating a work environment that fosters creativity and
    success.

    **Discovering Atlanta’s Landmarks and the Comfort of Freedman’s Chairs**

    Embark on a journey through Atlanta’s iconic landmarks while experiencing the unmatched comfort of Freedman’s
    ergonomic office chairs. Here are five fascinating facts about
    some of Atlanta’s cherished destinations:

    — **Atlanta Botanical Garden:** A 30-acre botanical garden showcasing
    an incredible variety of plants and flowers.

    — **Centennial Olympic Park:** Built for the 1996 Summer Olympics,
    this park serves as a gathering spot for locals and visitors.

    — **Atlanta History Center:** An extensive history museum featuring
    exhibits, historic houses, and gardens.
    — **College Football Hall of Fame:** Celebrating the rich
    history of college football with interactive exhibits and memorabilia.

    — **The «»It’s a living»» Street Art:** A vibrant street art scene in the city, offering colorful and dynamic murals.

    **Why Choose Freedman’s Ergonomic Office Chairs in Atlanta**

    Opting for Freedman’s ergonomic office chairs in Atlanta is not just
    a choice; it’s a commitment to elevate your workspace.
    Our stylish and comfortable chairs ensure that your office
    reflects the vibrant and dynamic spirit of Atlanta, making it an ideal
    place for productivity, innovation, and success.
    »
    «Transform Your Work Environment with Freedman’s Office Chairs in Orlando

    **Revitalize Your Workspace: Discover Freedman’s Office Chairs in Orlando**

    In the heart of Orlando, where magic and modernity coexist, Freedman’s Office Furniture proudly presents its exclusive range of
    office chairs. Conveniently located at 200 E Robinson St
    Suite 1120, Orlando, FL 32801, our showroom caters
    to the diverse needs of residents in neighborhoods like Audubon Park and
    Colonial Town Center, offering premium office seating
    solutions that prioritize both comfort and style.

    **Elevate Your Work Experience in Orlando’s Lively Atmosphere**

    Orlando, founded in 1875, has grown into a vibrant city with a population of 309,154 (2021) and 122,607
    households. Freedman’s commitment to providing high-quality office chairs resonates with Orlando’s lively and energetic atmosphere,
    offering residents the perfect blend of comfort and functionality for their workspaces.

    **Navigating the City: The Significance of Interstate 4**

    Much like the seamless flow of Interstate 4, Freedman’s ergonomic office chairs
    seamlessly blend style and functionality. This mirrors Orlando’s commitment to providing an environment where residents
    can seamlessly navigate between work and leisure, making our chairs an ideal choice for those who value efficiency and aesthetics.

    **Investing in Comfort: An Informed Choice for Orlando Professionals**

    In a city known for its diverse attractions and entertainment,
    investing in Freedman’s ergonomic office chairs is a conscious decision.
    Our chairs not only enhance the aesthetics of your workspace but also align with Orlando’s commitment to
    providing a comfortable and conducive work environment.

    **Explore Orlando’s Attractions and Relax in Freedman’s Chairs**

    Embark on a journey through Orlando’s enchanting attractions while enjoying the unparalleled comfort of Freedman’s ergonomic office
    chairs. Here are five interesting facts
    about some of Orlando’s most beloved landmarks:

    — **Walt Disney World Resort:** The most visited vacation resort
    globally, spanning over 25,000 acres.
    — **Universal Studios Florida:** An iconic film and television studio theme park, featuring thrilling
    rides and attractions.
    — **Lake Eola Park:** A scenic park in downtown Orlando with a picturesque
    lake and swan boats.
    — **Dr. Phillips Center for the Performing Arts:** A state-of-the-art venue hosting various cultural and artistic performances.

    — **Orlando Museum of Art:** Showcasing a diverse collection of contemporary and classic
    art.

    **Why Choose Freedman’s Ergonomic Office Chairs in Orlando**

    Opting for Freedman’s ergonomic office chairs in Orlando is not just
    a decision; it’s a commitment to enhancing your workspace.
    Our stylish and comfortable chairs ensure that your office reflects the dynamic and creative
    spirit of Orlando, making it an ideal place for productivity, innovation, and success.

    »
    «Discover Superior Comfort with Freedman’s Office Chairs in Atlanta

    **Elevate Your Workspace: Freedman’s Office Chairs in Atlanta**

    Nestled in the vibrant city of Atlanta, Freedman’s Office Furniture proudly introduces its exclusive
    collection of office chairs. Conveniently located at 3379 Peachtree Rd NE, Atlanta, GA 30326, our showroom caters
    to the diverse needs of residents in neighborhoods like
    Ansley Park and Buckhead, offering premium office
    seating solutions that blend comfort and sophistication seamlessly.

    **Crafting a Distinctive Workspace in Atlanta’s Dynamic Setting**

    Founded in 1836, Atlanta has evolved into a bustling city with a population of 496,461
    (2021) and 227,388 households. Freedman’s commitment to delivering top-notch office chairs aligns perfectly with Atlanta’s dynamic and diverse setting, providing residents with
    ergonomic solutions that enhance both productivity
    and aesthetic appeal.

    **Navigating the Urban Hub: The Importance of Interstate 20**

    Much like the flow of Interstate 20, Freedman’s ergonomic office chairs effortlessly
    navigate the modern office landscape. This reflects Atlanta’s
    status as a vibrant urban hub, where residents value efficiency and style in equal measure, making our chairs the perfect
    choice for those seeking a superior seating experience.

    **Investing in Excellence: A Thoughtful Choice for Atlanta Professionals**

    In a city renowned for its rich history and cultural attractions, choosing Freedman’s ergonomic office chairs is a thoughtful investment.
    Our chairs not only elevate the visual appeal of your workspace but also resonate with Atlanta’s commitment to fostering innovation and success through a comfortable and ergonomic work environment.

    **Explore Atlanta’s Cultural Gems and Relax in Freedman’s Chairs**

    Immerse yourself in Atlanta’s cultural richness while enjoying the superior comfort of Freedman’s ergonomic office chairs.
    Here are five fascinating facts about some of Atlanta’s most iconic
    landmarks:

    — **Atlanta Botanical Garden:** A 30-acre garden showcasing an incredible variety
    of plants, flowers, and sculptures.
    — **Centennial Olympic Park:** Built for the 1996 Summer Olympics, it’s a gathering spot with fountains, events, and green spaces.

    — **Martin Luther King Jr. National Historic Site:** Preserving the legacy of the civil
    rights leader, including his childhood home and Ebenezer Baptist Church.

    — **Piedmont Park:** A sprawling urban park with walking trails, sports facilities, and
    the picturesque Lake Clara Meer.
    — **The Fox Theatre:** A historic venue known for its Moorish architecture and hosting various performances.

    **Why Choose Freedman’s Ergonomic Office
    Chairs in Atlanta**

    Opting for Freedman’s ergonomic office chairs in Atlanta
    is not merely a decision—it’s a statement. Elevate your workspace
    with our stylish and comfortable chairs, embodying the spirit of
    innovation and success that defines Atlanta’s dynamic professional landscape.

    »
    «Discover Unmatched Seating Comfort with Freedman’s Office Chairs in Orlando

    **Elevate Your Workspace: Freedman’s Office Chairs in Orlando**

    Located at 200 E Robinson St Suite 1120, Orlando, FL 32801, Freedman’s Office
    Furniture is proud to introduce its exclusive range of office chairs to the vibrant city
    of Orlando. Serving neighborhoods like Colonial Town Center and College Park, Freedman’s
    provides superior office seating solutions that prioritize both
    comfort and style.

    **Crafting a Distinctive Workspace in Orlando’s Sunshine State**

    Established in 1875, Orlando has transformed into a thriving city with a 2021 population of 309,154 and 122,607 households.
    Freedman’s dedication to delivering top-tier office chairs aligns seamlessly with Orlando’s sunny ambiance,
    offering residents ergonomic solutions that blend
    seamlessly with the city’s dynamic and energetic atmosphere.

    **Navigating the Urban Landscape: The Significance of Interstate 4**

    Much like the flow of Interstate 4, Freedman’s ergonomic
    office chairs effortlessly navigate the modern office landscape.
    This mirrors Orlando’s status as a hub of entertainment and
    technology, where residents seek innovative and comfortable seating solutions,
    making our chairs the ideal choice for those desiring a superior seating experience.

    **Investing in Excellence: A Thoughtful Choice for Orlando Professionals**

    In a city known for its theme parks and cultural attractions,
    choosing Freedman’s ergonomic office chairs is a thoughtful investment.
    Our chairs not only enhance the visual appeal of your workspace but also align with Orlando’s commitment to creating a vibrant and comfortable work environment
    that fosters creativity and success.

    **Explore Orlando’s Magical Attractions and Relax in Freedman’s Chairs**

    Immerse yourself in Orlando’s magical offerings while enjoying the unmatched comfort of Freedman’s ergonomic office chairs.
    Here are five fascinating facts about some of Orlando’s most iconic landmarks:

    — **Walt Disney World Resort:** The world’s most-visited vacation resort, featuring four
    theme parks and numerous attractions.
    — **Universal Studios Florida:** A film and television studio theme park with
    thrilling rides and shows.
    — **Lake Eola Park:** A downtown oasis with swan boats, live swans, and scenic walking paths.

    — **Orlando Science Center:** A hands-on science museum with interactive exhibits
    and engaging displays.
    — **Dr. Phillips Center for the Performing Arts:
    ** A modern venue hosting various live performances, including Broadway shows.

    **Why Choose Freedman’s Ergonomic Office Chairs in Orlando**

    Opting for Freedman’s ergonomic office chairs in Orlando is more than just
    a decision—it’s a commitment to excellence. Elevate your workspace with
    our stylish and comfortable chairs, embodying the spirit of innovation and success that defines Orlando’s dynamic professional landscape.

    »
    «Revolutionize Your Workspace with Freedman’s Office Chairs in Atlanta

    **Experience Unparalleled Comfort: Freedman’s Office Chairs in Atlanta**

    Nestled at 3379 Peachtree Rd NE, Atlanta, GA 30326, Freedman’s Office Furniture
    proudly introduces its exceptional collection of office chairs to the dynamic city of Atlanta.
    Serving neighborhoods like Ansley Park and Buckhead,
    Freedman’s delivers office seating solutions that seamlessly combine ergonomic design with aesthetic appeal.

    **Redesigning Your Office Aesthetic: Freedman’s Office Chairs in Atlanta**

    Founded in 1836, Atlanta has evolved into a bustling metropolis with a 2021 population of 496,
    461 and 227,388 households. Freedman’s commitment to providing top-notch office chairs perfectly complements Atlanta’s modern and diverse
    atmosphere, offering residents seating solutions that embody both innovation and style.

    **Navigating the Cityscape: The Significance of Interstate 20**

    Much like the connectivity provided by Interstate 20, Freedman’s ergonomic office chairs seamlessly integrate into Atlanta’s
    diverse professional landscape. Reflecting Atlanta’s status as a cultural and economic hub,
    our chairs offer residents unparalleled comfort
    and style, making them the preferred choice for those seeking an exceptional seating experience.

    **A Commitment to Excellence: Choosing Freedman’s Chairs in Atlanta**

    In a city known for its rich history and cultural landmarks, choosing Freedman’s ergonomic office chairs is a statement of commitment to excellence.

    Our chairs not only enhance the visual appeal of your workspace
    but also align with Atlanta’s reputation for fostering innovation and success.

    **Explore Atlanta’s Rich Heritage and Relax in Freedman’s Chairs**

    Discover the vibrant history of Atlanta while
    enjoying the unrivaled comfort of Freedman’s ergonomic office chairs.

    Here are five intriguing facts about some of Atlanta’s iconic landmarks:

    — **Atlanta History Center:** A comprehensive history museum featuring exhibits on the Civil War and Southern history.

    — **Piedmont Park:** Atlanta’s premier green space,
    offering walking paths, sports facilities, and beautiful scenery.

    — **Martin Luther King Jr. National Historic Site:** Preserving the childhood
    home of the civil rights leader and featuring the
    Ebenezer Baptist Church.
    — **The Fox Theatre:** A historic performing arts venue known for its grand architecture and diverse entertainment.

    — **The High Museum of Art:** Atlanta’s leading art museum, showcasing a diverse collection of
    artwork.

    **Why Freedman’s Ergonomic Office Chairs Stand Out in Atlanta**

    Choosing Freedman’s ergonomic office chairs in Atlanta is a decision that transcends mere furniture.
    It’s a commitment to elevating your workspace with stylish
    and comfortable seating that resonates with Atlanta’s spirit of progress and achievement.

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