#include <pwmWrite.h>

const int servoPin = 8;

// units in degrees per second
float speed = 70.0;

// When easing constant (ke) < 1.0, return value is normalized, when 1.0, returns pulse width (μs)
// ke = 0.0 is linear, between 0.0 and 1.0 is tunable sigmoid, 1.0 is normal response
// Normalized Tunable Sigmoid: https://www.desmos.com/calculator/ejkcwglzd1
float ke = 0.5;

// go to position (degrees)
uint8_t pos = 0;

// duration of travel in ms is degrees to move / speed * 1000
float dur = 180.0 / speed * 1000.0;

uint32_t prevMs;

Pwm pwm = Pwm();

void setup() {
  Serial.begin(115200);
  delay(2000);
}

void loop() {
  uint32_t ms = millis();
  float ye;

  if (ms - prevMs > dur) {
    prevMs = ms;
    pos = (pos == 0) ? 180 : 0;
  }
  ye = pwm.writeServo(servoPin, pos, speed, ke);
  Serial.println(ye);
  delay(10);
}