# This code is lifted from a tutorial by Rui Santos & Sara Santos
# https://randomnerdtutorials.com/raspberry-pi-pico-servo-motor-micropython

from machine import Pin, PWM
from time import sleep
import random

# Set up PWM Pin for servo control
servo_pin = machine.Pin(0)
servo = PWM(servo_pin)

# Set Duty Cycle for Different Angles
max_duty = 7864
min_duty = 1802
off = 0
#half_duty = int(max_duty/2)
half_duty = int((max_duty+min_duty)/2)

#Set PWM frequency
frequency = 50
servo.freq (frequency)

try:
    while True:
        #Servo at 90 degrees
        servo.duty_u16(half_duty)
        sleep(random.randint(7,30))

        #Servo at 180 degrees
        servo.duty_u16(max_duty)
        sleep(random.randint(8,28))
        servo.duty_u16(off)
        sleep(random.randint(2,6))
        
        servo.duty_u16(min_duty)
        sleep(random.randint(3,33))
              
        servo.duty_u16(off)
        sleep(random.randint(2,18))
      
except KeyboardInterrupt:
    print("Keyboard interrupt")
    # Turn off PWM 
    servo.deinit()