Example - Full automation with servo based turnouts and signals with a PCA9685 servo module

// myAutomation.h for simple ROUTEs with servo based turnouts and signals, and sensors directly connected to the Mega2560.

ALIAS(TRN1, 100)
ALIAS(TRN2, 101)
ALIAS(SNS1_TRN1_APP, 24)
ALIAS(SNS2_MAIN_TRN1_EX, 25)
ALIAS(SNS3_STN, 26)
ALIAS(SNS4_MAIN_TRN2_APP, 27)
ALIAS(SNS5_STN_TRN2_APP, 28)
ALIAS(SNS6_TRN2_EX, 29)
ALIAS(SIG1_TRN1_APP, 102)
ALIAS(SIG2_TRN2_GO, 103)
ALIAS(SIG3_STN_EX, 104)
ALIAS(BLK1_TRN1_APP, 1)
ALIAS(BLK2_MAIN_HOLD, 2)
ALIAS(BLK3_STN, 3)
ALIAS(BLK4_TRN2_EX, 4)
ALIAS(BLK1_EXIT, 1)
ALIAS(BLK1_BLK2, 2)
ALIAS(BLK1_BLK3, 3)
ALIAS(BLK2_BLK4, 4)
ALIAS(BLK3_BLK4, 5)
ALIAS(BLK4_BLK1, 6)
ALIAS(CHOOSE_BLK2, 60)

SERVO_TURNOUT(TRN1, 100, 400, 100, Slow, "Station entry")
SERVO_TURNOUT(TRN2, 101, 400, 100, Slow, "Station exit")
SERVO_SIGNAL(SIG1_TRN1_APP, 400, 250, 100)
SERVO_SIGNAL(SIG2_TRN2_GO, 400, 250, 100)
SERVO_SIGNAL(SIG3_STN_EX, 400, 250, 100)

// Start up with turnouts closed and signals red
CLOSE(TRN1)
CLOSE(TRN2)
RED(SIG1_TRN1_APP)
RED(SIG2_TRN2_GO)
RED(SIG3_STN_EX)

// Send three locos around our layout:
RESERVE(BLK1_TRN1_APP)
RESERVE(BLK2_MAIN_HOLD)
RESERVE(BLK4_TRN2_EX)
SENDLOCO(1, BLK1_EXIT)
SENDLOCO(2, BLK2_BLK4)
SENDLOCO(3, BLK4_BLK1)

// We need DONE to tell EX-RAIL not to automatically proceed beyond definitions above
DONE

// Sequence to exit block 1, and choose whether to go to the station or continue on main
SEQUENCE(BLK1_EXIT)
  IF(CHOOSE_BLK2)
    UNLATCH(CHOOSE_BLK2)
    FOLLOW(BLK1_BLK2)
  ELSE
    LATCH(CHOOSE_BLK2)
    FOLLOW(BLK1_BLK3)
  ENDIF

// Sequence to go from block 1 to block 2
SEQUENCE(BLK1_BLK2)
  RESERVE(BLK2_MAIN_HOLD)
  IFTHROWN(TRN1)
    AMBER(SIG1_TRN1_APP)
    DELAY(2000)
    RED(SIG1_TRN1_APP)
    CLOSE(TRN1)
    DELAY(2000)
  ENDIF
  GREEN(SIG1_TRN1_APP)
  FWD(20)
  AFTER(SNS2_MAIN_TRN1_EX)
  FREE(BLK1_TRN1_APP)
  FOLLOW(BLK2_BLK4)

// Sequence to go from block 1 to block 3
SEQUENCE(BLK1_BLK3)
  RESERVE(BLK3_STN)
  IFCLOSED(TRN1)
    AMBER(SIG1_TRN1_APP)
    DELAY(2000)
    RED(SIG1_TRN1_APP)
    THROW(TRN1)
    DELAY(2000)
  ENDIF
  GREEN(SIG1_TRN1_APP)
  FWD(10)
  AT(SNS3_STN)
  STOP
  FREE(BLK1_TRN1_APP)
  DELAYRANDOM(10000, 15000)
  FWD(10)
  AT(SNS5_STN_TRN2_APP)
  FOLLOW(BLK3_BLK4)

// Sequence to go from block 2 to block 4
SEQUENCE(BLK2_BLK4)
  RESERVE(BLK4_TRN2_EX)
  IFTHROWN(TRN2)
    AMBER(SIG2_TRN2_GO)
    AMBER(SIG3_STN_EX)
    DELAY(2000)
    RED(SIG2_TRN2_GO)
    RED(SIG3_STN_EX)
    CLOSE(TRN2)
    DELAY(2000)
  ENDIF
  GREEN(SIG2_TRN2_GO)
  FWD(20)
  AFTER(SNS4_MAIN_TRN2_APP)
  FREE(BLK2_MAIN_HOLD)
  FOLLOW(BLK4_BLK1)

// Sequence to go from block 3 to block 4
SEQUENCE(BLK3_BLK4)
  RESERVE(BLK4_TRN2_EX)
  IFCLOSED(TRN2)
    AMBER(SIG2_TRN2_GO)
    AMBER(SIG3_STN_EX)
    DELAY(2000)
    RED(SIG2_TRN2_GO)
    RED(SIG3_STN_EX)
    THROW(TRN2)
    DELAY(2000)
  ENDIF
  GREEN(SIG3_STN_EX)
  FWD(20)
  AFTER(SNS5_STN_TRN2_APP)
  FREE(BLK3_STN)
  FOLLOW(BLK4_BLK1)

// Sequence to move from block 4 back to block 1
SEQUENCE(BLK4_BLK1)
  RESERVE(BLK1_TRN1_APP)
  FWD(30)
  AFTER(SNS1_TRN1_APP)
  FREE(BLK4_TRN2_EX)
  FOLLOW(BLK1_EXIT)