Example to use CircuitCo PWM_Cape

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?