#include <Servo.h>

Servo s;                        // create servo object to control a servo
                                // twelve servo objects can be created on most boards

#define TMIN 500                // Lebar Pulsa MIN saat 0°
#define TMAX 2450               // Lebar Pulsa MAX saat 180°
#define PIN 9                   // nomor PIN pada ARDUINO
#define KECEPATAN 10            // Kecepatan gerakan sudut, °/detik

float pos;                      // variable to store the servo position
float interval;
unsigned long t1, t2;

void setup() {
  s.attach(PIN,TMIN,TMAX);
  t1=micros();
}

void loop() {
    for(pos=0;pos<=90;pos+=interval)
    {
      s.write(ceil(pos));
      delay(15);
      t2=micros();
      interval=(t2-t1)*KECEPATAN/1000000.0;     // 1000000.0 us, harus ada koma nol
      t1=t2;
    }
    for(pos=90;pos>=0;pos-=interval)
    {
      s.write(ceil(pos)); 
      delay(15);
      t2=micros();
      interval=(t2-t1)*KECEPATAN/1000000.0;
      t1=t2;
    }
}