# Simple demo of of the PCA9685 PWM servo/LED controller library.
# This will move channel 0 from min to max position repeatedly.
from __future__ import division
import time

import Adafruit_PCA9685


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

servo_min = 150  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096

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)

print('Moving servo on channel 0, press Ctrl-C to quit...')
while True:


    # Move servo on channel O between extremes.
    pwm.set_pwm(0, 0, servo_min)
    time.sleep(1)
    pwm.set_pwm(0, 0, servo_max)
    time.sleep(1)