import pwmio
from Adafruit_PCA9685 import PCA9685
from time import sleep

def angle_to_pulse(angle):
    # Calculate pulse length as derivative of the angle.
    pulse = int(round(41 / 9 * angle / 2 + 100, 0))
    return pulse

# Define driver object
pwm = PCA9685()

# Set frequency
pwm.set_pwm_freq(50)

# Channel of the driver board (0-15)
channel = 0

# Minimum and maximum pulse lengths. 100-510 translates to 0-180 degree.
# The formula for angel to pulse length is: 41/9 * <angle> /2 +100. MUST BE ROUNDED en set to INT()
min_pulse = 100  # Min pulse length = 0deg
max_pulse = 510  # Max pulse length = 180deg

# Example with <set_angle> parameter
set_angle = 180
print("Angle:", set_angle, "> Pulse:", angle_to_pulse(set_angle))
pwm.set_pwm(channel, 0,  angle_to_pulse(set_angle))