simplest servo

G4:G431/Servo/servo.h

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+/*
+ * This file is part of the servo project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// minimal and maximal pulse length for SG90
+#define SG90_MINPULSE   700
+#define SG90_MAXPULSE   2100
+#define SG90_MIDPULSE   ((SG90_MINPULSE+SG90_MAXPULSE)/2)
+#define SG90_AMPL       (SG90_MAXPULSE-SG90_MINPULSE)
+// maximal speed: 0.1s (5 ticks) per 60degr (1/3 of range):  (SG90_AMPL/15)
+#define SG90_MAXSPEED   93
+
+
+void process_servo();
+bool servo_set_speed(uint8_t N, uint16_t s);
+bool servo_get_speed(uint8_t N, uint16_t *s);
+bool servo_set_tagpos(uint8_t N, uint16_t pos);
+bool servo_get_tagpos(uint8_t N, uint16_t *pos);