#!/usr/bin/python

import time
import math
import smbus

# ============================================================================
# Raspi PCA9685 16-Channel PWM Servo Driver
# ============================================================================

class PCA9685:

  # Registers/etc.
  __SUBADR1            = 0x02
  __SUBADR2            = 0x03
  __SUBADR3            = 0x04
  __MODE1              = 0x00
  __PRESCALE           = 0xFE
  __LED0_ON_L          = 0x06
  __LED0_ON_H          = 0x07
  __LED0_OFF_L         = 0x08
  __LED0_OFF_H         = 0x09
  __ALLLED_ON_L        = 0xFA
  __ALLLED_ON_H        = 0xFB
  __ALLLED_OFF_L       = 0xFC
  __ALLLED_OFF_H       = 0xFD

  def __init__(self, address=0x40, debug=False):
    self.bus = smbus.SMBus(1)
    self.address = address
    self.debug = debug
    self.write(self.__MODE1, 0x00)
	
  def write(self, reg, value):
    "Writes an 8-bit value to the specified register/address"
    self.bus.write_byte_data(self.address, reg, value)
	  
  def read(self, reg):
    "Read an unsigned byte from the I2C device"
    result = self.bus.read_byte_data(self.address, reg)
    return result
	
  def setPWMFreq(self, freq):
    "Sets the PWM frequency"
    prescaleval = 25000000.0    # 25MHz
    prescaleval /= 4096.0       # 12-bit
    prescaleval /= float(freq)
    prescaleval -= 1.0
    prescale = math.floor(prescaleval + 0.5)


    oldmode = self.read(self.__MODE1);
    newmode = (oldmode & 0x7F) | 0x10        # sleep
    self.write(self.__MODE1, newmode)        # go to sleep
    self.write(self.__PRESCALE, int(math.floor(prescale)))
    self.write(self.__MODE1, oldmode)
    time.sleep(0.005)
    self.write(self.__MODE1, oldmode | 0x80)

  def setPWM(self, channel, on, off):
    "Sets a single PWM channel"
    self.write(self.__LED0_ON_L+4*channel, on & 0xFF)
    self.write(self.__LED0_ON_H+4*channel, on >> 8)
    self.write(self.__LED0_OFF_L+4*channel, off & 0xFF)
    self.write(self.__LED0_OFF_H+4*channel, off >> 8)
  def setMotorPwm(self,channel,duty):
    self.setPWM(channel,0,duty)
  def setServoPulse(self, channel, pulse):
    "Sets the Servo Pulse,The PWM frequency must be 50HZ"
    pulse = pulse*4096/20000        #PWM frequency is 50HZ,the period is 20000us
    self.setPWM(channel, 0, pulse)

if __name__=='__main__':
 
  pwm = PCA9685(0x40, debug=True)
  pwm.setPWMFreq(50)
  count=0;
  while True:
    for i in range(500,2500,10): 
      pwm.setServoPulse(8,i) 
      pwm.setServoPulse(9,i)
      time.sleep(0.02)     
    
    for i in range(2500,500,-10):
      pwm.setServoPulse(8,i) 
      pwm.setServoPulse(9,i)
      time.sleep(0.02)  
    count=count+1
    if count > 5 :
      break