import math
from adafruit_servokit import ServoKit
from time import sleep

kit = ServoKit(channels=16)
MIN_PULSE = 400             # Defines angle 80, for current PID setup -- 550
MAX_PULSE = 2500            # Defines angle 100, for current PID setup -- 2450
kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
# kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
# Control the minimum and maximum range of the servo.
# min_pulse (int) – The minimum pulse width of the servo in microseconds.
# max_pulse (int) – The maximum pulse width of the servo in microseconds.
# kit.servo[0].set_pulse_width_range(500, 2500)

# Pulse width expressed as fraction between 0.0 (`min_pulse`) and 1.0 (`max_pulse`).
# For conventional servos, corresponds to the servo position as a fraction
# of the actuation range. Is None when servo is disabled (pulsewidth of 0ms)
# kit.servo[0].angle = 110

# property angle: float | None
# The servo angle in degrees. Must be in the range 0 to actuation_range.
# Is None when servo is disabled.

kit.servo[0].angle = 90




# property throttle: float
# How much power is being delivered to the motor.
# Values range from -1.0 (full throttle reverse) to 1.0 (full throttle forwards.)
# 0 will stop the motor from spinning.
# kit.continuous_servo[0].throttle = 0.5

# property actuation range: float | None
# The servo angle in degrees. Must be in the range 0 to actuation_range.
# Is None when servo is disabled
#kit.servo[0].actuation_range = 120