#include <Servo.h>
#include <TimerOne.h>  // Include TimerOne library
#include <TimerThree.h>  // Include TimerThree library

// Create Servo objects
Servo servo1;  // Servo for Timer 1
Servo servo2;  // Servo for Timer 3

void setup() {
  // Attach the servos to PWM-capable pins (use pins 9 and 10 on Arduino Mega)
  servo1.attach(9);   // Pin 9, using Timer1
  servo2.attach(10);  // Pin 10, using Timer3

  // Set up Timer1 for independent PWM signal (50Hz frequency)
  Timer1.initialize(20000);  // 20ms period for 50Hz (PWM frequency)
  Timer1.pwm(9, 1280);  // Set the initial pulse width (1.5ms) for Servo 1 (at 90 degrees)
  
  // Set up Timer3 for independent PWM signal (50Hz frequency)
  Timer3.initialize(20000);  // 20ms period for 50Hz (PWM frequency)
  Timer3.pwm(10, 1280);  // Set the initial pulse width (1.5ms) for Servo 2 (at 90 degrees)
}

void loop() {
  // Adjust servo positions by changing the pulse width (1ms to 2ms range)
  
  // For Servo 1 (Pin 9 - controlled by Timer1)
  Timer1.pwm(9, 1024);  // 1ms pulse width, move to 0 degrees
  delay(1000);           // Wait for 1 second
  Timer1.pwm(9, 1536);  // 1.5ms pulse width, move to 90 degrees
  delay(1000);           // Wait for 1 second
  Timer1.pwm(9, 2048);  // 2ms pulse width, move to 180 degrees
  delay(1000);           // Wait for 1 second

  // For Servo 2 (Pin 10 - controlled by Timer3)
  Timer3.pwm(10, 1024);  // 1ms pulse width, move to 0 degrees
  delay(1000);            // Wait for 1 second
  Timer3.pwm(10, 1536);  // 1.5ms pulse width, move to 90 degrees
  delay(1000);            // Wait for 1 second
  Timer3.pwm(10, 2048);  // 2ms pulse width, move to 180 degrees
  delay(1000);            // Wait for 1 second
}