from machine import Pin, PWM
from time import sleep

# Initialize PWM for Servo
servo = PWM(Pin(26))
servo.freq(50)

# Initialize Push Buttons
btn_up = Pin(21, Pin.IN, Pin.PULL_DOWN)
btn_down = Pin(28, Pin.IN, Pin.PULL_DOWN)

# Start at 45 degrees
angle = 0

def set_angle(angle):
    # Convert angle (0–180) to duty for 0.5ms–2.5ms pulse width
    min_duty = 1638   # ~0.5ms pulse width
    max_duty = 8192   # ~2.5ms pulse width
    duty = int((angle / 180) * (max_duty - min_duty) + min_duty)
    servo.duty_u16(duty)

set_angle(angle)

while True:
    if btn_up.value():
        angle += 5
        if angle > 180:
            angle = 180
        set_angle(angle)
        print("Angle:", angle)
        while btn_up.value():
            sleep(0.05)  # Wait for button release

    if btn_down.value():
        angle -= 5
        if angle < 0:
            angle = 0
        set_angle(angle)
        print("Angle:", angle)
        while btn_down.value():
            sleep(0.05)  # Wait for button release

    sleep(0.05)