import pigpio
import subprocess
import time

subprocess.run('pigpiod', shell=True)
pi = pigpio.pi()
MSLIST = [
    {
        "name": 'MOTOR',
        "pinList": [13, 16]
    },
    {
        "name": 'SERVO',
        "pinList": [12, 19]
    },
]
# 自动校准
speed = 0
while True:
    speed += 1
    for s in MSLIST:
        for d in s['pinList']:
            if s['name'] == 'MOTOR':
                # Set ESC speed via PWM
                pi.set_servo_pulsewidth(
                    d, speed * 1000 / 7 + 1000)
            else:
                pi.set_servo_pulsewidth(d, 1500)
    time.sleep(2)
    print(speed)
    if speed > 3:
        break