from Adafruit_PCA9685 import PCA9685

class PWMDriver:
  def __init__(self):
    self.driver = PCA9685()
    self.driver.set_pwm_freq(50)

  def set_pwm(self, slot, off, on):
    self.driver.set_pwm(slot, off, on)
  
  # comme map() dans arduino
  def mappyt(self, x, inMin, inMax, outMin, outMax):
    return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin

  def init_esc(self, slot):
      self.set_pwm(slot, 0, 307)

  def set_esc(self, slot, speed):
      self.set_pwm(
        slot,
        0,
        self.convert_speed_to_esc(speed)
      )

  def convert_speed_to_esc(self, speed):
    return round(self.mappyt(speed, 0, 100, 210, 410))