PCA9685 16-Channel Servo Driver with a Raspberry Pi Pico

// PCA9685 16-Channel Servo Driver on Raspberry Pi Pico: wiring and a free simulation at https://www.tinkered.ai/components/pca9685-servo-driver/raspberry-pi-pico
#include <Arduino.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);

const uint16_t SERVO_MIN_US = 544;
const uint16_t SERVO_MAX_US = 2400;   // 180 degrees

void servoAngle(uint8_t ch, int deg) {
  pwm.writeMicroseconds(ch, map(constrain(deg, 0, 180), 0, 180, SERVO_MIN_US, SERVO_MAX_US));
}

void setup() {
  Serial.begin(115200);
  pwm.begin();
  pwm.setOscillatorFrequency(25000000);
  pwm.setPWMFreq(50);                // servos: 50 Hz
  pwm.setPWM(15, 0, 1024);           // the LED on 15 at 25 % (1024 of 4096)
}

void loop() {
  for (int deg = 0; deg <= 180; deg += 10) {
    servoAngle(0, deg);
    servoAngle(1, 180 - deg);
    delay(100);
  }
  for (int deg = 180; deg >= 0; deg -= 10) {
    servoAngle(0, deg);
    servoAngle(1, 180 - deg);
    delay(100);
  }
}