/*
*******************************************************************************
* Copyright (c) 2021 by M5Stack
*                  Equipped with M5Core2 sample source code
*                          配套  M5Core2 示例源代码
* Visit for more information: https://docs.m5stack.com/en/module/servo
* 获取更多资料请访问: https://docs.m5stack.com/zh_CN/module/servo
*
* Product: SERVO.
* Date: 2021/9/2
*******************************************************************************
  Use SERVO Module to control the rotation of 12-channel servo.
  使用 SERVO 模块控制 12 通道舵机的旋转。
*/

#include <Arduino.h>
#include <M5Core2.h>
#include <Wire.h>

#define SERVO_ADDR 0x53
void setup() {
    M5.begin(true, false, true, true, kMBusModeInput);
    /*   kMBusModeOutput,powered by USB or Battery
    kMBusModeInput,powered by outside input need to fill in this Otherwise
    M5Core2 will not work properly
    由外部供电时此项必填,否则M5Core2将无法正常工作 */
    M5.Lcd.setTextFont(4);
    M5.Lcd.setCursor(70, 100);
    M5.Lcd.print("Servo Example");

    Wire.begin(32, 33, 100000UL);
}

// addr 0x01 mean control the number 1 servo by us
void Servo_write_us(uint8_t number, uint16_t us) {
    Wire.beginTransmission(SERVO_ADDR);
    Wire.write(0x00 | number);
    Wire.write(us & 0x00ff);
    Wire.write(us >> 8 & 0x00ff);
    Wire.endTransmission();
}

// addr 0x11 mean control the number 1 servo by angle
void Servo_write_angle(uint8_t number, uint8_t angle) {
    Wire.beginTransmission(SERVO_ADDR);
    Wire.write(0x10 | number);
    Wire.write(angle);
    Wire.endTransmission();
}

void loop() {
    for (uint8_t i = 0; i < 12; i++) {
        Servo_write_us(i, 700);
        // Servo_write_angle(i, 0);
    }
    delay(1000);
    for (uint8_t i = 0; i < 12; i++) {
        Servo_write_us(i, 2300);
        // Servo_write_angle(i, 180);
    }
    delay(1000);
}