TestCode for Puppet Show 2

# External module imports
from __future__ import division
import RPi.GPIO as GPIO
import time
import pygame

# Import the PCA9685 module.
import Adafruit_PCA9685

# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685()

# GPIO Pin Definitons:
beastStart = 5  # IR Module pin for start position for the Beast (character)
beastShow = 6  #IR Module pin where the Beast (Character) would be at when he appears.
belleShow = 13  #IR Module pin where the Belle (Character) would be at when she appears.
belleStart = 19  # IR Module pin for start position for Belle (character)

# PCA9685 Pin Definitions
beastLeg = 0
beastArm = 1
belleBody = 2
belleArm = 3
gboxMotor = 4  # Servo for the gearbox - This is for the one with the motor
gboxNMotor = 5  # Servo for the gearbox - This is for the one WITHOUT the motor.
beastM_Left = 6  # PWM Pin to send to the Motor Driver.
beastM_Right = 7  # PWM Pin to send to the Motor Driver.
belleM_Left = 8  # PWM Pin to send to the Motor Driver.
belleM_Right = 9  # PWM Pin to send to the Motor Driver.
screen_Left = 10  # PWM Pin to send to the Motor Driver.
screen_Right = 11  # PWM Pin to send to the Motor Driver.
led_red = 12  # To send to High power LED Driver.
led_green = 13  # To send to High power LED Driver.
led_blue = 14  # To send to High power LED Driver.
led_white = 15  # To send to High power LED Driver.

# Configure min and max servo pulse lengths
servo_min = 320  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096
led_low = 0
led_high = 3072

# Pin Setup:
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(beastStart, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Button pin set as input w/ pull-up
GPIO.setup(beastShow, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Button pin set as input w/ pull-up
GPIO.setup(belleShow, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Button pin set as input w/ pull-up
GPIO.setup(belleStart, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Button pin set as input w/ pull-up

# NOTE: Servos work with these values:
# Pulses are at a 50/60Hz interval
# Pulse high vary between 1 to 2 miliseconds, i.e. centre should be 1.5ms

# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)

# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(60)





# Alternatively specify a different address and/or bus:
# pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)


print("Here we go! Press CTRL+C to exit")
try:

    pwm.set_pwm(led_white, 0, led_high)
    while GPIO.input(beastStart):
        pwm.set_pwm(beastArm, 0, servo_min)
        time.sleep(1)
        pwm.set_pwm(beastArm, 0, servo_max)
        time.sleep(1)
        pwm.set_pwm(beastM_Right, 0, 256)

    pwm.set_pwm(beastArm, 0, servo_max)
    pwm.set_pwm(beastM_Right, 0, 0)
    print("stop")
    pwm.set_pwm(led_white, 0, led_low)



            # if GPIO.input(butPin): # button is released
        #     pwm.set_pwm(belle_Body, 0, servo_min)
        #     pwm.set_pwm(led_white, 0, led_low)
        #     pwm.set_pwm(led_red, 0, led_low)
        #     print("Go to servo min, light min")
        #     time.sleep(3)
        # else: # button is pressed:
        #     print("mowing on to second step")
        #     pwm.set_pwm(belle_Body, 0, servo_max)
        #     pwm.set_pwm(led_white, 0, led_high)
        #     pwm.set_pwm(led_red, 0, led_high)
        #     print("Go to servo max, light max")
        #     time.sleep(3)
except KeyboardInterrupt: #If CTRL+C is pressed, exit cleanly:
    pwm.set_pwm(beastArm, 0, servo_min)
    pwm.set_pwm(led_white, 0, 0)
    pwm.set_pwm(led_red, 0, 0)
    GPIO.cleanup() # cleanup all GPIO