First init.

libraries/Adafruit_seesaw_Library/seesaw_servo.cpp

@@ -0,0 +1,91 @@
+#include "seesaw_servo.h"
+
+#define MIN_PULSE 3277
+#define MAX_PULSE 6554
+
+/**************************************************************************/
+/*!
+    @brief  begin the seesaw. This is only necessary if the seesaw is not
+   already started
+    @param addr the address to begin on
+    @param flow the flow control pin to use
+    @returns true on success, false otherwise
+*/
+/**************************************************************************/
+bool seesaw_Servo::begin(uint8_t addr, int8_t flow) {
+  return _ss->begin(addr, flow);
+}
+
+/**************************************************************************/
+/*!
+    @brief  attach the given pin to the next free channel, sets pinMode.
+    @param pin the pin to use
+
+    @returns 0
+*/
+/**************************************************************************/
+uint8_t seesaw_Servo::attach(int pin) {
+  _pin = pin;
+  // set frequency to 50 hz
+  _ss->setPWMFreq(_pin, 50);
+  _attached = true;
+  min = MIN_PULSE;
+  max = MAX_PULSE;
+  return 0;
+}
+
+/**************************************************************************/
+/*!
+    @brief  attach the given pin to the next free channel but also sets min and
+   max values for writes.
+    @param pin the pin to use
+    @param min the minimum pulse width value in microseconds
+    @param max the maximum pulse width value in microseconds
+    @returns 0
+*/
+/**************************************************************************/
+uint8_t seesaw_Servo::attach(int pin, int min, int max) {
+  attach(pin);
+  this->min = min * 3.2767;
+  this->max = max * 3.2767;
+
+  return 0;
+}
+
+/**************************************************************************/
+/*!
+    @brief  write a value. if value is < 200 its treated as an angle, otherwise
+   as pulse width in microseconds
+    @param  value the value to write
+*/
+/**************************************************************************/
+void seesaw_Servo::write(int value) {
+  if (value < 200) {
+    // angle
+    uint16_t val = map(value, 0, 180, min, max);
+    val = constrain(val, min, max);
+    _ss->analogWrite(_pin, val);
+    _sval = val;
+  } else
+    writeMicroseconds(value);
+}
+
+/**************************************************************************/
+/*!
+    @brief  get current value
+    @returns  current pulse width as an angle between 0 and 180 degrees
+*/
+/**************************************************************************/
+int seesaw_Servo::read() { return map(_sval, MIN_PULSE, MAX_PULSE, 0, 180); }
+
+/**************************************************************************/
+/*!
+    @brief  Write pulse width in microseconds
+    @param  value the value to write
+*/
+/**************************************************************************/
+void seesaw_Servo::writeMicroseconds(int value) {
+  uint16_t val = 3.2767 * value;
+  _ss->analogWrite(_pin, val);
+  _sval = val;
+}