#include <ESP32Servo.h> // Allow ESP32 to control servo

Servo myservo; // Create Servo Object to control a servo

const int ServoPin = 23; // Setting pin 23 for servo

unsigned long ADC_previous_millis = 0;
const unsigned int ADC_interval = 100; // Interval to check ADC

int angle = 0; // Current angle of Servo
const unsigned int incrementRate = 2; // Increment rate
const unsigned int sweepDelay = 20; // Delay for smooth movement
const int maxAngle = 180; // Maximum angle for the servo
const int minAngle = 0; // Minimum angle for the servo

void setup()
{
  Serial.begin(115200); // Begin Serial Monitor
  myservo.attach(ServoPin); // Set up ServoPin using Servo library
  myservo.write(angle); // Initialize servo to starting angle
}

void loop()
{
  unsigned long current_millis = millis();
  if (current_millis - ADC_previous_millis >= ADC_interval)
  {
    ADC_previous_millis = current_millis;

    int ADC_value = analogRead(A5); // Variable to read the value from analog pin
    Serial.print("ADC value now is ");
    Serial.println(ADC_value);

    if (ADC_value < 2500)
    {
      // Clockwise rotation: Move servo from current angle to 180 degrees
      if (angle < maxAngle)
      {
        angle += incrementRate;
        if (angle > maxAngle) angle = maxAngle; // Ensure angle does not exceed max
        myservo.write(angle);
        Serial.print("Moving to ");
        Serial.println(angle);
        delay(sweepDelay); // Adjust delay for smooth movement
      }
    }
    else if (ADC_value >= 2500 && ADC_value < 4000)
    {
      // Counter-clockwise rotation: Move servo from current angle to 0 degrees
      if (angle > minAngle)
      {
        angle -= incrementRate;
        if (angle < minAngle) angle = minAngle; // Ensure angle does not go below min
        myservo.write(angle);
        Serial.print("Moving to ");
        Serial.println(angle);
        delay(sweepDelay); // Adjust delay for smooth movement
      }
    }
  }
}