AdafruitPWMServoHat.h

#pragma once

#include "wiringPiInclude.h"

// Registers
#define PCA9685_ADDRESS     0x40
#define MODE1               0x00
#define MODE2               0x01
#define SUBADR1             0x02
#define SUBADR2             0x03
#define SUBADR3             0x04
#define PRESCALE            0xFE
#define LED0_ON_L           0x06
#define LED0_ON_H           0x07
#define LED0_OFF_L          0x08
#define LED0_OFF_H          0x09
#define ALL_LED_ON_L        0xFA
#define ALL_LED_ON_H        0xFB
#define ALL_LED_OFF_L       0xFC
#define ALL_LED_OFF_H       0xFD

// Bits
#define RESTART             0x80
#define SLEEP               0x10
#define ALLCALL             0x01
#define INVRT               0x10
#define OUTDRV              0x04

class AdafruitPWMServoHat {
public:
    AdafruitPWMServoHat(int pwmFrequency = 60);
    ~AdafruitPWMServoHat();
    bool setMotor(int motorID, int speed);
    bool stopMotor(int motorID);
    bool stopAllMotors();
    void setPwm(int channel, int on, int off);
    void setAllPwm(int on, int off);
private:
    int m_i2c;
    int m_hz;
    void softwareReset();
    void setPwmFrequency(double freqHz);
};