/*
 * Original source: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * This is the Arduino code for the PCA9685 16-channel servo controller.
 * Watch the video for details and demo: http://youtu.be/y8X9X10Tn1k
 *  get code and wiring diagram from http://robojax.com/RTJ27
 
 * Watch the video for this code: 
 * 
 * Related Videos:
V5 video of PCA9685 32 Servo with ESP32 with WiFi: https://youtu.be/bvqfv-FrrLM
V4 video of PCA9685 32 Servo with ESP32 (no WiFi): https://youtu.be/JFdXB8Za5Os
V3 video of PCA9685: how to control 32 servo motors: https://youtu.be/6P21wG7N6t4
V2 Video of PCA9685: 3 different ways to control servo motors: https://youtu.be/bal2STaoQ1M
V1 Video introduction to PCA9685 to control 16 servos: https://youtu.be/y8X9X10Tn1k

 * Written by Ahmad Shamshiri for Robojax Video channel: www.Robojax.com
 * Date: December 16, 2017, in Ajax, Ontario, Canada
 * Permission granted to share this code, given that this
 * note is kept with the code.
 * Disclaimer: This code is "AS IS" and for educational purposes only.
 * This code has been downloaded from https://robojax.com
 * 
 */
/*************************************************** 
  This is an example for our Adafruit 16-channel PWM & Servo driver.
  Servo test - this will drive 16 servos, one after the other.

  Pick one up today in the Adafruit shop!
  ------> http://www.adafruit.com/products/815

  These displays use I2C to communicate; 2 pins are required to  
  interface. For Arduino UNOs, that's SCL -> Analog 5, SDA -> Analog 4.

  Adafruit invests time and resources providing this open source code, 
  please support Adafruit and open-source hardware by purchasing 
  products from Adafruit!

  Written by Limor Fried/Ladyada for Adafruit Industries.  
  BSD license, all text above must be included in any redistribution.
 ****************************************************/

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);

// Depending on your servo make, the pulse width min and max may vary; you 
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN  125 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  575 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
uint8_t servonum = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  pwm.begin();
  
  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates

  //yield();
}

// the code inside loop() has been updated by Robojax
void loop() {


  for( int angle =0; angle<181; angle +=20){
    delay(500);
    pwm.setPWM(0, 0, angleToPulse(angle) );
  }

  delay(1000);
 
}

/*
 * angleToPulse(int ang)
 * gets angle in degrees and returns the pulse width.
 * Also prints the value on the serial monitor.
 * Written by Ahmad Shamshiri for Robojax, Robojax.com
 */
int angleToPulse(int ang){
   int pulse = map(ang,0, 180, SERVOMIN,SERVOMAX);// map angle of 0 to 180 to Servo min and Servo max 
   Serial.print("Angle: ");Serial.print(ang);
   Serial.print(" pulse: ");Serial.println(pulse);
   return pulse;
}

/*
 * Original source: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
 * This is the Arduino code for the PCA9685 16-channel servo controller.
we have simple code with mapping PWM for simplicity explained in the video at 18:27

 * Watch the video for details and demo: http://youtu.be/y8X9X10Tn1k
 get this code and wiring from for this video:  http://robojax.com/RJT27

 * Written by Ahmad Nejrabi for Robojax Video channel: www.Robojax.com
 * Date: December 15, 2017, in Ajax, Ontario, Canada
 * Permission granted to share this code, given that this
 * note is kept with the code.
 * Disclaimer: This code is "AS IS" and for educational purposes only.
 * 
 */
/*************************************************** 
  This is an example for our Adafruit 16-channel PWM & Servo driver.
  Servo test - this will drive 16 servos, one after the other.

  Pick one up today in the Adafruit shop!
  ------> http://www.adafruit.com/products/815

  These displays use I2C to communicate; 2 pins are required to  
  interface. For Arduino UNOs, that's SCL -> Analog 5, SDA -> Analog 4.

  Adafruit invests time and resources providing this open source code, 
  please support Adafruit and open-source hardware by purchasing 
  products from Adafruit!

  Written by Limor Fried/Ladyada for Adafruit Industries.  
  BSD license, all text above must be included in any redistribution
 ****************************************************/

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);

// Depending on your servo make, the pulse width min and max may vary; you 
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN  125 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  575 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
uint8_t servonum = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  pwm.begin();
  
  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates

  //yield();
}

// the code inside loop() has been updated by Robojax
void loop() {

    pwm.setPWM(0, 0, 125 );
	delay(500);
    pwm.setPWM(0, 0, 255 );
	delay(500);
    pwm.setPWM(0, 0, 450 );
	delay(500);
    pwm.setPWM(0, 0, 575 );
	delay(500);	

 
}