from machine import Pin, PWM
from time import sleep

# Initialize PWM on a GPIO pin (e.g., Pin 15)
servo = PWM(Pin(15))
servo.freq(50)  # Set frequency to 50Hz for servo control

def set_angle(servo, angle):
    """
    Set the angle of the servo motor.
    
    Parameters:
        servo: PWM object controlling the servo
        angle: Desired angle (0 to 180 degrees)
    """
    # Map angle (0-180 degrees) to duty cycle (500-2500 microseconds)
    min_duty = 1000  # 1ms pulse corresponds to 0 degrees
    max_duty = 9000  # 2ms pulse corresponds to 180 degrees
    duty = int(min_duty + (angle / 180) * (max_duty - min_duty))
    servo.duty_u16(duty)

# Sweep the servo from 0 to 180 degrees and back
try:
    while True:
        for angle in range(0, 181, 10):  # 0 to 180 degrees in steps of 10
            set_angle(servo, angle)
            sleep(0.1)
        for angle in range(180, -1, -10):  # 180 to 0 degrees in steps of 10
            set_angle(servo, angle)
            sleep(0.1)
except KeyboardInterrupt:
    # Clean up and stop the servo
    servo.deinit()
    print("Program stopped.")