from machine import Pin, PWM
from time import sleep

servo_pin = Pin(12, Pin.OUT)
pwm = PWM(servo_pin)
pwm.freq(50)
pwm.duty(0)

# Creates a function for mapping the 0 to 180 degrees to 20 to 120 pwm duty values
def map(x, in_min, in_max, out_min, out_max):
    return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)

# Creates another function for turning the servo according to input angle
def servo(pwm_pin, angle):
    pwm_pin.duty(map(angle, 0, 180, 20, 120))

servo(pwm, 0)
sleep(1)

servo(pwm, 90)
sleep(1)

servo(pwm, 170)
sleep(1)

while True:
    # To rotate the servo from 0 to 180 degrees by 10 degrees increment
    for i in range(0, 180, 10):
        print("0 to 180, step ", i)
        servo(pwm, i)
        sleep(1)
    
    # To rotate the servo from 180 to 0 degrees by 10 degrees decrement
    for i in range(180, 0, -10):
        print("180 to 0, step ", i)
        servo(pwm, i)
        sleep(1)