#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

#define SERVOMIN  330 // this is the 'minimum' pulse length count (out of 4096) - increasing SERVOMIN decrease speed
#define SERVOMAX  390 // this is the 'maximum' pulse length count (out of 4096)

const char HEADER       = 'H';
const char A_TAG    = 'M';
const char B_TAG    = 'X';
const int  TOTAL_BYTES  = 10  ; // the total bytes in a message

int atomPins[] = {2,3,4,5,6,7,8,9};
int currentValue = 0;
int values[] = {0,0,0,0,0,0,0,0};
int cycle = 0;

void setup() {
  Serial.begin(9600);
  
  for(int i=0; i<8; i++) {
    pinMode(atomPins[i], OUTPUT);
    pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
  }

  pinMode(13, OUTPUT);
  digitalWrite(13, HIGH);
  pwm.begin();
  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates

  delay(10);
}
 
void setServoPulse(uint8_t n, double pulse) {
  double pulselength;
  
  pulselength = 1000000;   // 1,000,000 us per second
  pulselength /= 60;   // 60 Hz
  Serial.print(pulselength); Serial.println(" us per period"); 
  pulselength /= 4096;  // 12 bits of resolution
  Serial.print(pulselength); Serial.println(" us per bit"); 
  pulse *= 1000000;  // convert to us
  pulse /= pulselength;
  Serial.println(pulse);
  pwm.setPWM(n, 0, pulse);
}

void loop() {   

  cycle = 0;
  
  for(int i=0; i<8; i++) {
    values[i] = 0;
  }


  if(Serial.available() >= TOTAL_BYTES) {
     if( Serial.read() == HEADER) {
      char tag = Serial.read();
      if(tag == A_TAG) {
        for(int i=0; i<8; i++) {
          values[i] = Serial.read();
        }
      } 
    
    
    while(cycle < 8) {
        
      for(int i=0; i<8; i++) {
        Serial.print(values[i]);
        Serial.print(" ");
        if(values[i]>0) {
          values[i]--;
          digitalWrite(atomPins[i], HIGH);
          //pwm.setPWM(i, 0, SERVOMIN);
          if(values[i]==0) {
            cycle++;
            digitalWrite(atomPins[i], LOW);
            //pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
          }
        } else {  
          //cycle++;
          //digitalWrite(atomPins[i], LOW);
        }
      } 
      Serial.println("");
      delay(500);
      
      //digitalWrite(13, LOW);
    }
  }
  }

}