#include <LiquidCrystal_I2C.h>
#include <Wire.h>
#include <Servo.h>

Servo ESC;
LiquidCrystal_I2C LCD(0x27, 16, 4);

const int limit = 1;
int lastVal;

int val;

void setup() {
  Wire.begin();
  LCD.init();
  ESC.attach(9);

  LCD.setCursor(0,0);
  LCD.print("Servo:");
}

void loop() {
  val = analogRead(A0);
  val = map(val,0,1023,0,180);

if(abs(val-lastVal)>limit){
  ESC.write(val);

  String Txt = "Servo:";
  LCD.setCursor(0,0);
  Txt += val;
  Txt +="!";
  LCD.print(Txt);
  delay(30);
  Txt =" ";
}
  lastVal = val;

}