From 96617a3e29880bd5f19abad22a4861d5c266f69c Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Mon, 15 Nov 2021 13:28:20 -0500
Subject: [PATCH] Create hexapod.py

---
 software/rpi/hexapod.py | 56 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100644 software/rpi/hexapod.py

diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
new file mode 100644
index 0000000..4dda7a7
--- /dev/null
+++ b/software/rpi/hexapod.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Libraries
+# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
+from adafruit_servokit import ServoKit
+
+import time
+
+# Constants
+nbPCAServo = 16
+
+
+# Objects
+pca1 = ServoKit(channels=16, address=0x40, frequency=120)
+pca2 = ServoKit(channels=16, address=0x41, frequency=120)
+
+# function init
+
+
+def init():
+    print('Init')
+
+    # for i in range(nbPCAServo):
+    #     pca1.servo[i].set_pulse_width_range(MIN_IMP[i] , MAX_IMP[i])
+    #     pca2.servo[i].set_pulse_width_range(MIN_IMP[i] , MAX_IMP[i])
+
+# function main
+
+
+def main():
+
+    pcaScenario()
+
+
+# function pcaScenario
+def pcaScenario():
+    """Scenario to test servo"""
+    for i in range(nbPCAServo):
+        pca1.servo[i].angle = 90
+        pca2.servo[i].angle = 90
+        # for j in range(MIN_ANG[i], MAX_ANG[i], 1):
+        #     print("Send angle {} to Servo {}".format(j, i))
+        #     pca.servo[i].angle = j
+        #     time.sleep(0.01)
+        # for j in range(MAX_ANG[i], MIN_ANG[i], -1):
+        #     print("Send angle {} to Servo {}".format(j, i))
+        #     pca.servo[i].angle = j
+        #     time.sleep(0.01)
+        # pca.servo[i].angle = None  # disable channel
+    time.sleep(0.5)
+
+
+if __name__ == '__main__':
+    init()
+    main()