#include <ESP32Servo.h>
#include <Keypad.h>
#define pinServo 12
#define ROW_NUM     4 // four rows
#define COLUMN_NUM  3 // three columns
#define dt 20 // 1 grado cada dt milisegundos
char keys[ROW_NUM][COLUMN_NUM] = {
  {'1', '2', '3'},
  {'4', '5', '6'},
  {'7', '8', '9'},
  {'*', '0', '#'}
};

byte pin_rows[ROW_NUM] = {22, 21, 19, 18}; 
byte pin_column[COLUMN_NUM] = {4, 2, 15};  

Keypad keypad = Keypad( makeKeymap(keys), pin_rows, pin_column, ROW_NUM, COLUMN_NUM );
String cuentaStr;
volatile int posIni =90;
volatile int posFin=90;
volatile int pos;
Servo servo_1;

void setup() {
  Serial.begin(115200);
  
 servo_1.attach(pinServo);
  servo_1.write(posIni);
  Serial.println("Ingrese angulo: 000 ... 180");
   }


void loop() {
char key = keypad.getKey();

 if (key ) {
   Serial.print(key);
   cuentaStr=cuentaStr+key;
   
  
}
 
    if (cuentaStr.length()==3){
      posFin=cuentaStr.toInt();
      cuentaStr="";
       if (posFin> 180 ) {
         Serial.println(" Incorrecto,Ingrese angulo: 000 ... 180");
       }
           }

if (posFin<= 180 && posFin>=0 && posFin != posIni) {
    aplicar();
posIni=posFin;
    }
    

}
void aplicar(){
Serial.println("  Aplicando cambios....");
if(posFin>posIni) {
      for (pos = posIni; pos <= posFin; pos++) {
        // tell servo to go to position in variable 'pos'
        servo_1.write(pos);
        // wait 15 ms for servo to reach the position
        delay(dt);  // Wait for 15 millisecond(s)
      }
    }
      if(posFin<posIni) {
      for (pos = posIni; pos >= posFin; pos--) {
        // tell servo to go to position in variable 'pos'
        servo_1.write(pos);
        // wait 15 ms for servo to reach the position
        delay(dt);  // Wait for 15 millisecond(s)
      }
  
         }          

    posIni=posFin;
    Serial.print("Posicion actual: ");
  Serial.println(posFin);
    }