#include <ESP32Servo.h>  // ESP32-compatible Servo library (uses hardware PWM via LEDC)

// Pin definitions (constants)
int SERVO1_PIN = 18;   // GPIO used to output the PWM signal to the servo
int POT1_PIN   = 34;   // ADC-capable GPIO used to read the potentiometer (input only on ESP32)

int SERVO2_PIN = 19;
int POT2_PIN   = 35;

int SERVO3_PIN = 23;
int POT3_PIN   = 32;

int SERVO_MIN_US = 500;
int SERVO_MAX_US = 2500;

// Create a Servo object instance
Servo servo1;
Servo servo2;
Servo servo3;

void setup() {
  // Initialize Serial for debugging (Serial Monitor)
  Serial.begin(115200);

  // Servos typically expect a 50 Hz control signal (20 ms period)
  servo1.setPeriodHertz(50);
  servo2.setPeriodHertz(50);
  servo2.setPeriodHertz(50);

  // Attach the servo to a pin and define pulse width limits in microseconds:
  // min pulse = 500 us 
  // max pulse = 2500 us
  servo1.attach(SERVO1_PIN, SERVO_MIN_US, SERVO_MAX_US);
  servo2.attach(SERVO2_PIN, SERVO_MIN_US, SERVO_MAX_US);
  servo3.attach(SERVO3_PIN, SERVO_MIN_US, SERVO_MAX_US);
}

void loop() {
  // Read the potentiometer using the ESP32 ADC (typically returns 0..4095)
  int adc1 = analogRead(POT1_PIN);
  int adc2 = analogRead(POT2_PIN);
  int adc3 = analogRead(POT3_PIN);


  // Map ADC range (0..4095) to servo pulse width range (500..2500 microseconds)
  // This converts knob position to a pulse width that represents the servo position.
  int us1 = map(adc1, 0, 4095, SERVO_MIN_US, SERVO_MAX_US);
  int us2 = map(adc2, 0, 4095, SERVO_MIN_US, SERVO_MAX_US);
  int us3 = map(adc3, 0, 4095, SERVO_MIN_US, SERVO_MAX_US);


  // Send the pulse width to the servo (more precise than servo.write(angle))
  servo1.writeMicroseconds(us1);
  servo2.writeMicroseconds(us2);
  servo3.writeMicroseconds(us3);

  // Debug output: print raw ADC value and computed pulse width
  Serial.print("Pot_1:");Serial.print(adc1);Serial.print("-->");Serial.print(us1);
  Serial.print("Pot_2:");Serial.print(adc2);Serial.print("-->");Serial.print(us2);
  Serial.print("Pot_3:");Serial.print(adc3);Serial.print("-->");Serial.print(us3);

  // Small delay to limit update rate and reduce Serial spam
  delay(10);
}