/* PCA9685ServoV1
 *  26/12/23
 *  
 * PCA9685 Board with MG90 servo
 * 
 * This sketch only controls a single servo on pca9685 pin 0
 * Moving it from 0 - 180 degrees
 * 
 * 
SDA/SCL connections 

Arduino UNO: A4 (SDA), A5 (SCL) 
Arduino Mega 2560: 20 (SDA), 21 (SCL)  
ESP32: 21(SDA), 22 (SCL)

 */


#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);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);

#define USMIN  600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX  2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates

// our servo
uint8_t servonum = 0;

void setup() {
  Serial.begin(9600);
  Serial.println("PCA9685ServoV1");

  pwm.begin();
  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(SERVO_FREQ);  // Analog servos run at ~50 Hz updates

  delay(10);
}



void loop() {
    
  for (uint16_t microsec = USMIN; microsec < USMAX; microsec++) {
    pwm.writeMicroseconds(servonum, microsec);
  }

  delay(500);
  for (uint16_t microsec = USMAX; microsec > USMIN; microsec--) {
    pwm.writeMicroseconds(servonum, microsec);
  }

  delay(500);

}