Create Adafruit_PWMServoDriver.h

IS_UltraSonic/headers/Adafruit_PWMServoDriver.h

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+/*************************************************** 
+  This is a library for our Adafruit 16-channel PWM & Servo driver
+  Pick one up today in the adafruit shop!
+  ------> http://www.adafruit.com/products/815
+  These displays use I2C to communicate, 2 pins are required to  
+  interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
+  Adafruit invests time and resources providing this open source code, 
+  please support Adafruit and open-source hardware by purchasing 
+  products from Adafruit!
+  Written by Limor Fried/Ladyada for Adafruit Industries.  
+  Modified by ADITYA.T
+  BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+#ifndef _ADAFRUIT_PWMServoDriver_H
+#define _ADAFRUIT_PWMServoDriver_H
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+#else
+ #include "WProgram.h"
+#endif
+
+
+#define PCA9685_SUBADR1 0x2
+#define PCA9685_SUBADR2 0x3
+#define PCA9685_SUBADR3 0x4
+
+#define PCA9685_MODE1 0x0
+#define PCA9685_PRESCALE 0xFE
+
+#define LED0_ON_L 0x6
+#define LED0_ON_H 0x7
+#define LED0_OFF_L 0x8
+#define LED0_OFF_H 0x9
+
+#define ALLLED_ON_L 0xFA
+#define ALLLED_ON_H 0xFB
+#define ALLLED_OFF_L 0xFC
+#define ALLLED_OFF_H 0xFD
+
+
+class Adafruit_PWMServoDriver {
+ public:
+  Adafruit_PWMServoDriver(uint8_t addr = 0x40);
+  void begin(void);
+  void reset(void);
+  void setPWMFreq(float freq);
+  void setPWM(uint8_t num, uint16_t on, uint16_t off);
+  void setPin(uint8_t num, uint16_t val, bool invert=false);
+
+ private:
+  uint8_t _i2caddr;
+
+  uint8_t read8(uint8_t addr);
+  void write8(uint8_t addr, uint8_t d);
+};
+
+#endif