from Adafruit_PCA9685 import PCA9685

class PWMDriver:
    def __init__(self):
        self.driver = PCA9685()
        self.driver.set_pwm_freq(50)
        self.servoProfiles = {
                'default': {'range': 180, 'min': 65, 'max': 530},
                'lidar': {'range': 180, 'min': 75, 'max': 510},
                'china': {'range': 180, 'min': 75, 'max': 510},
                'flag': {'range': 180, 'min': 100, 'max': 480},
                'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
                }


    #définir la fréquence du signal de sortie à 50hz
    def ini_esc(slot):
        slef.driver.set_pwm(slot,0,307) #307 est le signal neutre sous 50 Hz (1.5 / 20 x 4096 = 307)
        time.sleep(1)

    def initialiser_esc():
        HZ = 50     #fréquence du signal vers les ESC
        self.driver.set_pwm_freq(HZ)
        LESC = (1, 13, 8, 9) #liste des ESC (avant gauche, avant droit, arrière gauche, arrière droit)
        ini_esc(LESC[0])
        ini_esc(LESC[1]) 
        ini_esc(LESC[2])
        ini_esc(LESC[3])
    def setAngle(self, slot, angle, profileName = 'default'):
        profile = None
        if type(profileName) is dict:
            profile = profileName
        if profile == None:
            if profileName not in self.servoProfiles:
                profileName = 'default'
        profile = self.servoProfiles[profileName]
        if 'range' not in profile:
            profile['range'] = 180
        if angle < 0 or angle > profile['range']:
            print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
        if slot > 15 or slot < 0:
            print('> ERR!!! Invalid slot passed to setAngle!')
            return
        pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
        #print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
        self.driver.set_pwm(slot, 0, pulse)
    def setPwm(self, slot, off, on):
        #self.driver.set_pwm(slot, off, on)
        self.driver.set_pwm(slot, off,on)
    def mappyt(self, x, inMin, inMax, outMin, outMax):
        return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin