#include <ESP32Servo.h>


#define servoPin 13
#define led 22
#define speedB 34
#define turnB 35


Servo servo;


bool turnAble = false;
bool turnDirection = false;
int currentSpeed = 0;
int currentAngle = 90;


void IRAM_ATTR Ext_INT1_ISR(){
  currentSpeed=(currentSpeed+1)%4;
  analogWrite(led, currentSpeed*70);
}


void IRAM_ATTR Ext_INT2_ISR(){
  turnAble = !turnAble;
}


void setup() {
  pinMode(speedB, INPUT);
  pinMode(turnB, INPUT);
  attachInterrupt(speedB, Ext_INT1_ISR, RISING);
  attachInterrupt(turnB, Ext_INT2_ISR, RISING);


  servo.attach(servoPin);


  Serial.begin(9600);
}


void loop() {
  if(turnAble){
    if(currentAngle > 180) turnDirection = true;
    else if(currentAngle < 0) turnDirection = false;


    servo.write(currentAngle);
    turnDirection == false? currentAngle += 10 : currentAngle -= 10;
    delay(100);
  }
  delay(10);
}