from time import sleep
from machine import PWM, Pin

# Bibliotheque Servo
class Servo:
    # these defaults work for the standard TowerPro SG90
    __servo_pwm_freq = 50
    __min_u10_duty = 26 - 0 # offset for correction
    __max_u10_duty = 123- 0  # offset for correction
    min_angle = 0
    max_angle = 180
    current_angle = 0.001


    def __init__(self, pin):
        self.__initialise(pin)


    def update_settings(self, servo_pwm_freq, min_u10_duty, max_u10_duty, min_angle, max_angle, pin):
        self.__servo_pwm_freq = servo_pwm_freq
        self.__min_u10_duty = min_u10_duty
        self.__max_u10_duty = max_u10_duty
        self.min_angle = min_angle
        self.max_angle = max_angle
        self.__initialise(pin)


    def move(self, angle):
        # round to 2 decimal places, so we have a chance of reducing unwanted servo adjustments
        angle = round(angle, 2)
        # do we need to move?
        if angle == self.current_angle:
            return
        self.current_angle = angle
        # calculate the new duty cycle and move the motor
        duty_u10 = self.__angle_to_u10_duty(angle)
        self.__motor.duty(duty_u10)

    def __angle_to_u10_duty(self, angle):
        return int((angle - self.min_angle) * self.__angle_conversion_factor) + self.__min_u10_duty


    def __initialise(self, pin):
        self.current_angle = -0.001
        self.__angle_conversion_factor = (self.__max_u10_duty - self.__min_u10_duty) / (self.max_angle - self.min_angle)
        self.__motor = PWM(Pin(pin))
        self.__motor.freq(self.__servo_pwm_freq)


p4 = Pin(4) 
ROB14760 = Servo(p4)

# ROB14760 = machine.PWM(p4,freq=50) # duty for servo is between 40 - 115 
# 0.5ms/20ms = 0.025 = 2.5% duty cycle
# 2.4ms/20ms = 0.12 = 12% duty cycle
#
# 0.025*1024=25.6
# 0.12*1024=122.88
ROB14760.move(0)
print("origine")
sleep(1) # attendre 
pas = 26
while True: 
    for i in range(8):
        angle = (i)*(pas)
        print("Angle :", angle)
        ROB14760.move(angle) # tourner le servomoteur en angle 
        sleep(1)