# imports
import board
from board import SCL, SDA
import busio
import adafruit_pca9685
from adafruit_motor import servo
import time
import random

# Setup the servo driver an initiale the connected servos
i2c = busio.I2C(SCL, SDA)
pca = adafruit_pca9685.PCA9685(i2c)
pca.frequency = 50

servos = []

servo0 = servo.Servo(pca.channels[0])
servo1 = servo.Servo(pca.channels[1])
servo2 = servo.Servo(pca.channels[2])
servo3 = servo.Servo(pca.channels[3])

# Add each servo to our list of servos
servos.append(servo0)
servos.append(servo1)
servos.append(servo2)
servos.append(servo3)

# Loop over this list and set the starting position
for servo in servos:
    servo.angle = 45

# A variable to set speed of servo movements
steps = 5

while True:

    # For eternity keep looping over the servos
    for servo in servos:

        # Based on chance and their current position move either left or right.
        if random.randint(0,1) == 0:
            if servo.angle < steps:
                servo.angle += steps
            else:
                servo.angle -= steps
        else:
            if servo.angle > (180-steps):
                servo.angle -= steps
            else:
                servo.angle += steps

    time.sleep(0.15)