I am looking for a good example on how to use the CircuitCo 
PWM_Cape: http://elinux.org/CircuitCo:PWM_Cape

I found a lot of tutorials on how to control a single servo connected to a 
gpio port, but this cape uses I2C to control 32 servos.

I also found a python library but also with no description on how to 
control multiple servos over 
I2C: https://github.com/adafruit/adafruit-beaglebone-io-python

Are there any good tutorials on how to control those 32 servos using this 
cape?

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