The class PCA9685 uses the quick2wire API to talk to the "Adafruit 16-Channel 12-bit PWM/Servo Driver I2C interface" which uses the PCA9685 IC
It provides the simple method set_position(servo_id, position) in order to drive up to 16 PWM servos.
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TimJay/RPyPCA9685
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Control up to 16 PWM servos from the Raspberry Pi: I2C & PCA9685
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