diff --git a/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua b/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
index 09305bf0..d38a7f07 100644
--- a/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
+++ b/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
@@ -7,7 +7,7 @@ package("pca9685")
 
     add_versions("2017.12.07", "6f9794d888f77b863884c3eac933b75a07101347")
 
-    on_install("linux", "macosx", function (package)
+    on_install("linux", function (package)
         io.writefile("xmake.lua", [[
             add_rules("mode.debug", "mode.release")
             target("pca9685")
diff --git a/app/raspberry_pi/tests/pca9685/test_front_wheels.cpp b/app/raspberry_pi/tests/pca9685/test_front_wheels.cpp
new file mode 100644
index 00000000..d7aa85d6
--- /dev/null
+++ b/app/raspberry_pi/tests/pca9685/test_front_wheels.cpp
@@ -0,0 +1,90 @@
+// Includes for PCA9685
+#include "PCA9685.h"
+#include <iostream>
+#include <stdio.h>
+//#include <ncurses.h>
+#include <thread>         // std::thread
+#include <vector>         // std::vector
+#include <unistd.h>
+#include <string>
+
+
+#include <string.h>
+
+#define MIN_PULSE_WIDTH 900
+#define MAX_PULSE_WIDTH 2100
+#define FREQUENCY 50
+
+using namespace std;
+
+int offset = 0;
+
+//motor channels
+int chanh = 0;
+int chanv = 1;
+
+//Declaration of Functions used ==================================
+int setAngle(int& angle, PCA9685 pwm, int& channel);
+
+
+//def map(self, x, in_min, in_max, out_min, out_max):
+int map (int x, int in_min, int in_max, int out_min, int out_max) {
+        return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
+}
+
+//def _angle_to_analog(self, angle):
+int setAngleToAnalog(int angle) {
+      float pulse_wide;
+      int analog_value;
+      
+      pulse_wide = map(angle,0,180,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH);
+      analog_value = int(float(pulse_wide) /  1000000 * FREQUENCY * 4096);
+      return (analog_value);
+}
+
+int setAngle(int& angle, PCA9685 pwm, int& channel) {
+    int val = 0;
+
+    if (angle > 180) {
+       angle = 179;
+    }
+    if (angle < 0) {
+       angle = 1;
+    }
+    
+    val = setAngleToAnalog(angle);
+    //not sure what offset does
+    val += offset;
+
+    //setPWM(self, channel, on, off
+    //channel: The channel that should be updated with the new values (0..15)
+    //on: The tick (between 0..4095) when the signal should transition from low to high
+    //off:the tick (between 0..4095) when the signal should transition from high to low
+    
+    pwm.setPWM(channel,0,val);
+    //usleep(30);
+    cout << "Channel: " << channel << "\tSet to angle: " << angle << "\tVal: " << val << endl;
+    return(0);
+}
+
+
+int main () {
+
+        int homeh = 90;
+	int homev = 90;
+	
+	//make sure you use the right address values.
+	PCA9685 pwm;
+	pwm.init(1,0x40);
+	usleep(1000 * 100);
+	cout << "Setting frequency: " << FREQUENCY << endl;
+	pwm.setPWMFreq (FREQUENCY);
+	usleep(1000 * 1000);
+
+        cout << "Returning to HOME position." << endl;
+	setAngle(homeh, pwm, chanh);
+        setAngle(homev, pwm, chanv);
+
+
+	return 0;
+} 
\ No newline at end of file
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index 86b6ebab..8ea0b3c4 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -21,7 +21,7 @@ add_requires("imath")
 
 if is_plat("linux", "macosx") then
     -- For the SunFounder Car
-    add_requires("pca9685")
+    add_requires("pca9685", {configs = {shared = true}})
 end
 
 -- For Functional Programming?
@@ -56,4 +56,19 @@ target("raspberry_pi")
 
     set_configdir("$(buildir)/$(plat)/$(arch)/$(mode)")
     add_configfiles("settings/config.jsonc", {onlycopy = true, prefixdir = "settings"})
-    
\ No newline at end of file
+    
+-- From xmake sample code:
+
+if is_plat("linux", "macosx") then
+    for _, file in ipairs(os.files("tests/pca9685/test_*.cpp")) do
+        local name = path.basename(file)
+        target(name)
+            set_kind("binary")
+            set_default(false)
+            
+            add_packages("pca9685")
+
+            add_files("tests/pca9685/" .. name .. ".cpp")
+        target_end()
+    end
+end
\ No newline at end of file