ObjectTest.cpp

#include <unistd.h>
#include <list>
#include "AdeeptHatLib/AdeeptHat.h"
#include "AdeeptHatLib/Servo.h"

// PCA9685 I2C address (check your HAT's documentation and/or I2C scan)
const int PCA9685_ADDRESS = 0x40; // Default address, may need to be changed.

void startServos(std::list<AdeeptServo>& servos, int address) {
    for (auto& servo : servos) {
        servo.startup(address);
    }
}

int main() {
    AdeeptRobotHat hat; //creates the hat object. should only be one.
    AdeeptServo servo0(hat, 0);
    std::list<AdeeptServo> servos = {servo0};
    usleep(20); //wait 20ms for startup

    int address = hat.openI2c(PCA9685_ADDRESS);
    startServos(servos, address);

    int angle = 0;
    //runs the servo between three angles for testing
    while (true) {
        if (angle == 0) {
            angle = 180;
        } else if (angle == 180) {
            angle = 90;
        } else {
            angle = 0;
        }
        servo0.setAngle(angle);
        usleep(1000000); //wait 1s
    }

    return 0;
}