robobear-mkII.py

#!/usr/bin/python

from Adafruit_PWM_Servo_Driver import PWM
import time

pwm = PWM(0x40)
pwm.setPWMFreq(50)

twist = 200
tDir = 1
tMax = 300
tMin = 200

nod = 200
nDir = 1
nMax = 500
nMin = 120

def twistServo():
    global twist
    global tDir
    global tMax
    global tMin
    
    twist += tDir
    if (twist > tMax):
        tDir = -1
    
    elif (twist < tMin):
        tDir = 1
    
    pwm.setPWM(0, 0, twist)
    
def nodServo():
    global nod
    global nDir
    global nMax
    global nMin
    
    nod += nDir
    if (nod > nMax):
        nDir = -1
    
    elif (nod < nMin):
        nDir = 1
    
    pwm.setPWM(15, 0, nod)

while (True): 
    twistServo()
    nodServo()
    time.sleep(0.005)