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#include "Wire.h"
#include "Adafruit_PWMServoDriver.h"
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);

#define MIN_PULSE_WIDTH 600
#define MAX_PULSE_WIDTH 2600
#define FREQUENCY 50

int BtBlanc = 2;
int BtJaune = 3;
int BtRouge = 4;
int BtVert = 5;

bool EtatBtBlanc;
bool EtatBtJaune;
bool EtatBtRouge;
bool EtatBtVert;


void setup() {
  pwm.begin();
  pwm.setPWMFreq(FREQUENCY);
  pinMode(BtBlanc, INPUT_PULLUP);
  pinMode(BtJaune, INPUT_PULLUP);
  pinMode(BtRouge, INPUT_PULLUP);
  pinMode(BtVert, INPUT_PULLUP);
}

int pulseWidth(int angle) {
  int pulse_wide, analog_value;
  pulse_wide = map(angle, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
  analog_value = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);
  return analog_value;
}

void loop() {
  EtatBtBlanc = digitalRead(BtBlanc);
  if (EtatBtBlanc == HIGH) {
    pwm.setPWM(0, 0, pulseWidth(90));
  }
  else {
    pwm.setPWM(0, 0, pulseWidth(0));
  }

  EtatBtJaune = digitalRead(BtJaune);
  if (EtatBtJaune == HIGH) {
    pwm.setPWM(1, 0, pulseWidth(90));
  }
  else {
    pwm.setPWM(1, 0, pulseWidth(0));
  }

  EtatBtRouge = digitalRead(BtRouge);
  if (EtatBtRouge == HIGH) {
    pwm.setPWM(2, 0, pulseWidth(90));
  }
  else {
    pwm.setPWM(2, 0, pulseWidth(0));
  }

  EtatBtVert = digitalRead(BtVert);
  if (EtatBtVert == HIGH) {
    pwm.setPWM(3, 0, pulseWidth(90));
  }
  else {
    pwm.setPWM(3, 0, pulseWidth(0));
  }
}