from machine import Pin,PWM,I2C
from pico_i2c_lcd import I2cLcd
import utime

servo=[PWM(Pin(i+12,Pin.OUT)) for i in range(4)]
for i in range(4):
 servo[i].freq(50)
min_duty=1800
max_duty=8000

sda=Pin(0)
scl=Pin(1)
i2c=I2C(0,sda=sda,scl=scl,freq=400000)
device=i2c.scan()
lcd=I2cLcd(i2c,device[0],2,16)

seg_num=[ [1,1,1,1,1,1,0], # 0
    [0,1,1,0,0,0,0], # 1
    [1,1,0,1,1,0,1], # 2
    [1,1,1,1,0,0,1], # 3
    [0,1,1,0,0,1,1], # 4
    [1,0,1,1,0,1,1], # 5
    [1,0,1,1,1,1,1], # 6
    [1,1,1,0,0,0,0], # 7
    [1,1,1,1,1,1,1], # 8
    [1,1,1,1,0,1,1]  # 9
]

leds=[Pin(i,Pin.OUT) for i in range(2,9)]
for num in range(9,-1,-1):
    if num%2==0 and num>0:
        servo[num//2-1].duty_u16(8000)
    for i in range(7):
        leds[i].value(1-seg_num[num][i])
    utime.sleep(1)
lcd.putstr("TAKE OFF!!")