import RPi.GPIO as GPIO
import time                  
import random   
 
GPIO.setmode(GPIO.BOARD)                    ## Use BOARD pin numbering.
GPIO.setup(18,GPIO.OUT)
GPIO.setup(19,GPIO.OUT)
GPIO.setup(22,GPIO.OUT)
GPIO.setup(21,GPIO.OUT)                    ## set output.

index=GPIO.PWM(18,100)                        ## PWM Frequency
index.start(5)

mid=GPIO.PWM(19,100)
mid.start(5)

ring=GPIO.PWM(22,100)
ring.start(5)

pink=GPIO.PWM(21,100)
pink.start(5)

                                       ## Angle To Duty cycle  Conversion
angle2=160.                            ## Straightens the fingers
duty2= float(angle2)/10 + 2.5

index.ChangeDutyCycle(duty2)
mid.ChangeDutyCycle(duty2)
ring.ChangeDutyCycle(duty2)
pink.ChangeDutyCycle(duty2)

ck=0
while ck<=10000:
     time.sleep(0.5)
     angle=random.randrange(100,125)                    ##Twitch angle between 100 and 125
     duty=float(angle)/10 + 2.5
     print(angle)
     print("\t")
     rfin=random.randrange(1,8)                         ##servo selection between 1 and 8
     print(rfin)
     if rfin==1 :
            index.ChangeDutyCycle(duty)
            print("\n1 working")
     elif rfin==2 :
            mid.ChangeDutyCycle(duty)
            print("\n2 working")
     elif rfin==3 :
            ring.ChangeDutyCycle(duty)
            print("\n3 working")
     elif rfin==4 :
            pink.ChangeDutyCycle(duty)
            print("\n4 working")
     elif rfin==5 :                                      ##From here on you can continue to add more combinations to create more realistic glitches 
            ring.ChangeDutyCycle(duty)
            pink.ChangeDutyCycle(duty)
     elif rfin==6 :
            pink.ChangeDutyCycle(duty)
            mid.ChangeDutyCycle(duty)
     elif rfin==7 :
            mid.ChangeDutyCycle(duty)
            index.ChangeDutyCycle(duty)
     elif rfin==8 :
            index.ChangeDutyCycle(duty)
            ring.ChangeDutyCycle(duty)       
     ck=ck+1
time.sleep(1)
GPIO.cleanup()