/*
  Arduino | robotics-help
  Random — 4/29/2026 4:44 PM

  Friday, May 1, 2026 10:19 AM
  Ok so the smaller increments helped and also adding some more
  counterweight stabeld it out. it still jerks around but its better

  DarwinWasWrong — Friday, May 1, 2026 11:19 PM
  Another thing is adding in accel and deceleration steps.
  if you move from 80 - 100 for example, you start slow, speed up,
  then slow down again at the end

  See https://github.com/leftCoast/LC_baseTools
  Slow servo sweep using Jim Lee's LC_baseTools

  DarwinWasWrong — 5/2/2026 10:59 PMSaturday, May 2, 2026 10:59 PM
The radio Head ASK library prevents STANDARD servo libraries due to timer use.

jim lee — 1:07 AMWednesday, May 6, 2026 1:07 AM
Just use blinker() from baseTools to drive your servos. Easy peasy. 
Map 0,180,1,2 for pulse, set period to about 15
*/

#include <slowServo.h>
#include <mapper.h>

const int SERVO_PIN = 2;

slowServo servo(SERVO_PIN); // create slow servo
mapper speedMapper(0, 1023, 50, 5);      // map speed between 50mS and 5mS
mapper cwAngleMapper(0, 1023, 90, 180);  // map angle from 90 to 180
mapper ccwAngleMapper(0, 1023, 0, 90);   // map angle from 0 to 90

void setup() {
  Serial.begin(115200);
  servo.begin();
}

void loop() {
  static bool isTarget = false;

  idle(); // idle yields to LC_baseTools library functions

  int speed = speedMapper.map(analogRead(A2));
  int cwTarget = cwAngleMapper.map(analogRead(A0));
  int ccwTarget = ccwAngleMapper.map(analogRead(A1));
  servo.setMsPerDeg(speed);

  if (!servo.moving())  { // when the servo reaches its target...
    isTarget = !isTarget;
    servo.setDeg(isTarget ? ccwTarget : cwTarget);
    Serial.print("Servo moving ");
    Serial.print(isTarget ? "CCW to " : "CW to ");
    Serial.print(isTarget ? ccwTarget : cwTarget);
    Serial.print(" at ");
    Serial.print(speed);
    Serial.println("ms per step. ");
  }
}