$regfile = "m324pdef.dat"
$crystal = 8000000
$hwstack = 32
$swstack = 20
$framesize = 40
$lib "i2c_twi.lbx"
' Config I2C
Config Scl = Portc.0
Config Sda = Portc.1
Config I2cdelay = 400000

Const Pca9685adw = &H82                                     ' Write Adress (A0 to VCC and A1-A5 to gnd )
Const Pca9685m1 = &H00                                      ' Register Adress Mode 1
Const Pca9685m2 = &H01                                      ' Register Adress Mode 2
Const Led0 = &H06                                           ' Register adress LED0 next +4
Const Speedfront = 250                                      ' Define waitms before next led front or left
Const Speedback = 100                                       ' Define waitms before next led back or right
Const Minpower = 0                                          ' Define minimum power to star led light
Const Maxpower = 4095                                       ' define max power
Const Boostspeed = 9                                        ' reduce the step 4096 is big

Dim A As Byte
Dim Temp As Byte
Dim Temp2 As Byte
Dim Z As Word
Dim Inv As Word
Dim Pwml As Byte
Dim Pwmh As Byte
Dim First As Bit

' Reset device
I2cinit
I2cstart
I2cwbyte Pca9685adw
I2cwbyte Pca9685m1
I2cwbyte &H01
I2cstop
Waitms 10
' Set MODE 1
I2cstart
I2cwbyte Pca9685adw
I2cwbyte Pca9685m1
I2cwbyte &H81                                               ' PCA Responds to Led All Call  and Restart enabled
I2cwbyte &HA1                                               ' enable auto increment
I2cstop
' Set MODE 2
I2cstart
I2cwbyte Pca9685adw
I2cwbyte Pca9685m2
I2cwbyte &H10                                               ' Set the output pin mode (direct to led)
I2cstop
' ALL LED OFF
For A = 0 To 15
   Temp = 4 * A
   Temp = Temp + Led0
   I2cstart
   I2cwbyte Pca9685adw
   I2cwbyte Temp
   I2cwbyte &H00
   I2cwbyte &H00
   I2cwbyte &H00
   I2cwbyte &H00
   I2cstop
Next
First = 1
Do
   For A = 0 To 15 Step 1
       Temp = 4 * A
       Temp = Temp + Led0
       Temp2 = Temp - 4
      For Z = Minpower To Maxpower Step Boostspeed
         If First = 1 Or A > 0 Then
            Pwml = Low(z)
            Pwmh = High(z)
            I2cstart
            I2cwbyte Pca9685adw
            I2cwbyte Temp
            I2cwbyte &H00
            I2cwbyte &H00
            I2cwbyte Pwml
            I2cwbyte Pwmh
            I2cstop
         End If
         If A > 0 Then
            Inv = Maxpower - Z
            Pwml = Low(inv)
            Pwmh = High(inv)
            I2cstart
            I2cwbyte Pca9685adw
            I2cwbyte Temp2
            I2cwbyte &H00
            I2cwbyte &H00
            I2cwbyte Pwml
            I2cwbyte Pwmh
            I2cstop
         End If
      Next

      Waitms Speedfront
   Next
   First = 0
   For A = 15 To 0 Step -1
       Temp = 4 * A
       Temp = Temp + Led0
       Temp2 = Temp - 4
      For Z = Minpower To Maxpower Step Boostspeed
         If A > 0 Then
            Inv = Maxpower - Z
            Pwml = Low(inv)
            Pwmh = High(inv)
            I2cstart
            I2cwbyte Pca9685adw
            I2cwbyte Temp
            I2cwbyte &H00
            I2cwbyte &H00
            I2cwbyte Pwml
            I2cwbyte Pwmh
            I2cstop
         End If
         Pwml = Low(z)
         Pwmh = High(z)
         I2cstart
         I2cwbyte Pca9685adw
         I2cwbyte Temp2
         I2cwbyte &H00
         I2cwbyte &H00
         I2cwbyte Pwml
         I2cwbyte Pwmh
         I2cstop
      Next
      Waitms Speedback
   Next
Loop
End