from machine import Pin, PWM, ADC
import time


servo = PWM(Pin(15))
servo.freq(50) 

pot = ADC(Pin(26)) 

# Servo Duty Limits (0.5ms to 2.5ms roughly)
MIN_DUTY = 1000  # 0 degrees
MAX_DUTY = 9000  # 180 degrees

# Jitter prevention
threshold = 150  # Only move if the change is greater than this
last_duty = 0

def map_range(value, in_min, in_max, out_min, out_max):
    """Maps a value from one range to another."""
    return (value - in_min) * (out_max - out_min) // (in_max - in_min) + out_min

print("Servo Control Initialized. Turn the potentiometer!")

while True:
    # 1. Read the raw ADC value (0 to 65535)
    adc_val = pot.read_u16()
    
    # 2. Map the ADC value to the Servo Duty Cycle
    duty = map_range(adc_val, 0, 65535, MIN_DUTY, MAX_DUTY)
    
    # 3. Check if the change is large enough to warrant a move (prevents jitter)
    if abs(duty - last_duty) > threshold:
        # Clamp duty to be safe
        duty = max(MIN_DUTY, min(MAX_DUTY, duty))
        
        servo.duty_u16(duty)
        last_duty = duty
        
    # 4. Small delay to let the CPU breathe
    time.sleep(0.02)