u/Former-Hold-1589

I have a 6-legged robot (hexapod) project where I use an STM32F4 to communicate via PCA9685 to control the servos. When I transmit a set of angles to keep the robot stationary, it poses correctly right after booting up. However, an issue occurs when I try to manually force or shift the servos back and forth while the angles are being transmitted: the servos start spinning wildly for a moment before returning to their designated positions. I suspect this is due to interference caused by the deviation between the forced physical angle and the commanded angle from the PCA9685. Is there a way to resolve this issue? Could it perhaps be that the current I am supplying to the servos is insufficient?

I've connected stm32f411 to PCA9685 including external power 5V, 2A but when I capture the output value of PWM, V+ and GND, the result of PWM is correct so I can drive servo via this. However, when I measure the value of V+, it is only approximately 0.62V even I supply 5V to PCA, this is the reason when I connect directly the servo to 3 pins of PCA, the servo doesn't operate. But when I supply external power to servo, it runs so I think my PWM pulse is right and my problem is the wrong output voltage of column pins of V+. Can you give me some solutions for this problem ? Thank you very much for reading and replying.