from compLib.PCA9685 import PCA9685

SERVO_COUNT = 10

pwm = PCA9685(0x40, debug=True)
pwm.setPWMFreq(50)

MIN_ANGLE = -90.0
MAX_ANGLE = 90.0


class Servo:
    """Control the servo ports on the robot
    """

    @staticmethod
    def set_position(channel: int, angle: int, offset: float =90):
        """Set position of servo connected to port

        :param channel: channel between 0 and 7
        :param angle: Angle of servo
        """
        if channel < 0 or channel >= SERVO_COUNT:
            raise IndexError("Invalid Servo channel specified!")
        
        angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
        
        pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))

    @staticmethod
    def setup_position():
        """Set position of servos to the position used during the setup process
        """
        
        Servo.set_position(0, 0)
        Servo.set_position(1, 0)