#define SERVO_PIN 0                  // define the pin number for the servo

const int servoMinAngle = 0;         // define the minimum angle for the servo (in degrees)
const int servoMaxAngle = 180;       // define the maximum angle for the servo (in degrees)
const int servoMinPulse = 500;       // define the minimum pulse width for the servo (in microseconds)
const int servoMaxPulse = 2500;      // define the maximum pulse width for the servo (in microseconds)
const int servoUpdateTime = 20;      // define the update time for the servo (in milliseconds)

void setup() {
  pinMode(SERVO_PIN, OUTPUT);        // set the pin for the servo as an output
}

void loop() {
  // move the servo to 0 degrees (4.8V)
  setServoAngle(0, 0.1);             // Angle: 0°, Speed: 0.1 s/60°
  delay(1000);

  // move the servo to 90 degrees (4.8V)
  setServoAngle(90, 0.1);            // Angle: 90°, Speed: 0.1 s/60°
  delay(1000);

  // move the servo to 180 degrees (6.0V)
  setServoAngle(180, 0.09);          // Angle: 180°, Speed: 0.09 s/60°
  delay(1000);
}

void setServoAngle(int angle, float speed) {
  int pulseWidth = map(angle, servoMinAngle, servoMaxAngle, servoMinPulse, servoMaxPulse);
  int pulseTime = pulseWidth * speed / 60;
  
  for (int i = 0; i < servoUpdateTime / pulseTime; i++) {
    digitalWrite(SERVO_PIN, HIGH);
    delayMicroseconds(pulseWidth);
    digitalWrite(SERVO_PIN, LOW);
    delay(servoUpdateTime - pulseTime);
  }
}