#include <Servo.h>                                                          // including servo library
#include <LiquidCrystal.h>                                               // including LCD display library

const int rs = PB11, en = PB10, d4 = PA4, d5 = PA3, d6 = PA2, d7 = PA1;   // declaring pin names and pin numbers of lcd
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);                               // setting lcd and its parameters

int servoPin = PA0;                                // declare and initialize pin for servo output PWM 
int potPin = PA5;                                     // potentiometer ADC input 
int ledPin = PA6;                                      // LED pin

Servo servo;                                            // creating variable servo with datatype Servo

void setup()
{
  lcd.begin(16, 2);
  lcd.setCursor(2, 0);
  lcd.print("PWM Tutorial");
  lcd.setCursor(3, 1);
  lcd.print("Using Servo");
  delay(3000);
  lcd.clear();
  servo.attach(servoPin);   // it connects pin PA0 with motor as control feedback by providing pulses
  pinMode(ledPin, OUTPUT);  // setting LED pin as output
}

void loop()
{
  lcd.clear();
  int angle;
  int reading;
  reading = analogRead(potPin);
  angle = map(reading, 0, 1023, 0, 170);  // map potentiometer reading to servo angle (0-170 degrees)
  servo.write(angle);
  
  int intensity = map(reading, 0, 1023, 0, 255);  // map potentiometer reading to LED intensity (0-255)
  analogWrite(ledPin, intensity); 
  if(reading<=125)
  { // set LED intensity
  digitalWrite(ledPin,LOW);
  }
  else{
    digitalWrite(ledPin,HIGH); 
  }
  lcd.setCursor(0, 0);
  lcd.print("Angle:");
  lcd.print(angle);
  
  lcd.setCursor(0, 1);
  lcd.print("Intensity:");
  lcd.print(intensity);
  
  delay(100);
}