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import time
from adafruit_servokit import ServoKit

# Initialize the servo kit
kit = ServoKit(channels=8)

# Configure servo parameters for accurate positioning
# Adjust these values based on your specific servo
kit.servo[0].set_pulse_width_range(500, 2500)  # Standard servo pulse range
kit.servo[0].actuation_range = 180  # Full range of motion

# Function to smoothly move servo
def move_servo(servo, start_angle, end_angle, steps=10, delay=0.05):
    step_size = (end_angle - start_angle) / steps
    for i in range(steps + 1):
        angle = start_angle + (step_size * i)
        servo.angle = angle
        time.sleep(delay)

# Main control sequence
def main():
    # Start with true 0 degrees
    kit.servo[0].angle = 0
    time.sleep(1)
    
    # Move to 180 degrees smoothly
    move_servo(kit.servo[0], 0, 180)
    time.sleep(1)
    
    # Return to 0 degrees smoothly
    move_servo(kit.servo[0], 180, 0)
    
    # Control continuous servo
    kit.continuous_servo[1].throttle = 1
    time.sleep(1)
    kit.continuous_servo[1].throttle = -1
    time.sleep(1)
    kit.continuous_servo[1].throttle = 0

if __name__ == "__main__":
    main()