16 Channel 12-Bit PWM Servo Driver I2C

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

// Typical servo pulse limits for a 50 Hz PWM signal on the PCA9685.
// These values work well for many hobby servos.
static const uint16_t SERVO_MIN = 150; // about 0.5 ms
static const uint16_t SERVO_MAX = 600; // about 2.5 ms

uint16_t angleToPulse(uint8_t angle) {
  return map(angle, 0, 180, SERVO_MIN, SERVO_MAX);
}

void setup() {
  Serial.begin(9600);
  while (!Serial) {
    ;
  }

  Serial.println("PCA9685 servo driver example");

  pwm.begin();
  pwm.setPWMFreq(50); // Servos use 50 Hz
  delay(10);
}

void loop() {
  // Sweep a servo on channel 0 from 0 to 180 degrees and back.
  for (uint8_t angle = 0; angle <= 180; angle++) {
    uint16_t pulse = angleToPulse(angle);
    pwm.setPWM(0, 0, pulse);
    Serial.print("Channel 0 angle: ");
    Serial.print(angle);
    Serial.print("  pulse: ");
    Serial.println(pulse);
    delay(15);
  }

  for (int angle = 180; angle >= 0; angle--) {
    uint16_t pulse = angleToPulse((uint8_t)angle);
    pwm.setPWM(0, 0, pulse);
    Serial.print("Channel 0 angle: ");
    Serial.print(angle);
    Serial.print("  pulse: ");
    Serial.println(pulse);
    delay(15);
  }
}