From 9a6c240140ec0f4964b129116a46135c7f3e70b0 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Sat, 29 Mar 2025 14:07:46 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=8B=20Updates=20adafruit=20pwm=20lib?=
 =?UTF-8?q?=20to=20own=20fork=20until=20pr=20merged?=
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---
 .../peripherals/servo_controller.h              | 17 ++---------------
 platformio.ini                                  |  2 +-
 2 files changed, 3 insertions(+), 16 deletions(-)

diff --git a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
index a31bb38..3683fed 100644
--- a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
+++ b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
@@ -8,7 +8,6 @@
 #include <template/stateful_endpoint.h>
 #include <utils/math_utils.h>
 #include <settings/servo_settings.h>
-#include <Wire.h>
 
 /*
  * Servo Settings
@@ -53,18 +52,6 @@ class ServoController : public StatefulService<ServoSettings> {
         _pca.setPWM(index, 0, value);
     }
 
-    void writeMany(uint8_t count, uint16_t *values) {
-        Wire.beginTransmission(PCA9685_I2C_ADDRESS);
-        Wire.write(0x06);
-        for (int i = 0; i < count; i++) {
-            Wire.write(0);
-            Wire.write(0);
-            Wire.write(values[i] & 0xFF);
-            Wire.write(values[i] >> 8);
-        }
-        Wire.endTransmission();
-    }
-
     void activate() {
         if (is_active) return;
         control_state = SERVO_CONTROL_STATE::ANGLE;
@@ -113,7 +100,7 @@ class ServoController : public StatefulService<ServoSettings> {
     void calculatePWM() {
         uint16_t pwms[12];
         for (int i = 0; i < 12; i++) {
-            angles[i] = lerp(angles[i], target_angles[i], 0.1);
+            angles[i] = lerp(angles[i], target_angles[i], 0.05);
             auto &servo = state().servos[i];
             float angle = servo.direction * angles[i] + servo.centerAngle;
             uint16_t pwm = angle * servo.conversion + servo.centerPwm;
@@ -123,7 +110,7 @@ class ServoController : public StatefulService<ServoSettings> {
             }
             pwms[i] = pwm;
         }
-        writeMany(12, pwms);
+        _pca.setMultiplePWM(pwms, 12);
     }
 
     void updateServoState() {
diff --git a/platformio.ini b/platformio.ini
index 92747e0..a4d92d5 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -109,7 +109,7 @@ lib_deps =
 	adafruit/Adafruit SSD1306@^2.5.7
 	adafruit/Adafruit GFX Library@^1.11.5
 	adafruit/Adafruit BusIO@^1.9.3
-	adafruit/Adafruit PWM Servo Driver Library@^2.4.1
+	https://github.com/runeharlyk/Adafruit-PWM-Servo-Driver-Library.git
 	adafruit/Adafruit ST7735 and ST7789 Library@^1.10.4
 	adafruit/Adafruit HMC5883 Unified@^1.2.3
 	adafruit/Adafruit BMP085 Unified@^1.1.3