robobear-mkII-v2.py

#!/usr/bin/python
 
from Adafruit_PWM_Servo_Driver import PWM
import time
 
class ServoControl(object):
    current = 200
    direction = 1
    
    def __init__(self, pwm, pin, sMax, sMin):
        self.pwm = pwm
        self.pin = pin
        self.sMax = sMax
        self.sMin = sMin
        
    def scan(self):
        self.current += self.direction
        if (self.current > self.sMax):
            self.direction = -1
    
        elif (self.current < self.sMin):
            self.direction = 1
        
    def move(self):
        self.scan()
        self.pwm.setPWM(self.pin, 0, self.current)


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

twistServo = ServoControl(pwm, 0, 300, 200)
nodServo = ServoControl(pwm, 15, 500, 120)
 
while (True): 
    twistServo.move()
    nodServo.move()
    time.sleep(0.005)