from machine import Pin, PWM
import utime

r_switch = Pin(16, Pin.IN, Pin.PULL_UP)  
l_switch = Pin(17, Pin.IN, Pin.PULL_UP)  

servo = PWM(Pin(15))
servo.freq(50)  
min_duty = int(1 / 20 * 65535) 
max_duty = int(2 / 20 * 65535) 

mid_duty = (min_duty + max_duty) // 2
current_duty = mid_duty
servo.duty_u16(current_duty)

step = 150 

def constrain(val, min_val, max_val):
    return min(max_val, max(min_val, val))

while True:
    if r_switch.value() == 0: 
        current_duty += step
        current_duty = constrain(current_duty, min_duty, max_duty)
        servo.duty_u16(current_duty)
        angle = int((current_duty - min_duty) * 180 / (max_duty - min_duty))
        print("Rotating Clockwise, duty:", current_duty, "angle:", angle)
        utime.sleep(0.05)
    elif l_switch.value() == 0: 
        current_duty -= step
        current_duty = constrain(current_duty, min_duty, max_duty)
        servo.duty_u16(current_duty)
        angle = int((current_duty - min_duty) * 180 / (max_duty - min_duty))
        print("Rotating Anti-Clockwise, duty:", current_duty, "angle:", angle)
        utime.sleep(0.05)
    else:
        servo.duty_u16(current_duty)
        utime.sleep(0.05)