From bcf4231c840ded3e58b765163355a1e97c4267f4 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sat, 4 Jul 2026 15:10:21 -0700
Subject: [PATCH] servo works

---
 src/main.rs | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/main.rs b/src/main.rs
index 0b162bc..7077623 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -73,7 +73,23 @@ async fn main(spawner: Spawner) {
     let channel = p.PA0.into();
     spawner.spawn(unwrap!(read_adc1_pa0(a, channel)));
 
-    Timer::after_secs(60).await;
+    let zero = degrees2duty(0.0, pwm_max_dur, pwm_max_duty);
+    pwm.set_duty(Channel::Ch2, zero);
+    Timer::after_millis(500).await;
+
+    for _ in 0..10 {
+        let duty = degrees2duty(SERVO_MIN_DEG, pwm_max_dur, pwm_max_duty);
+        pwm.set_duty(Channel::Ch2, duty);
+        Timer::after_secs(1).await;
+
+        let duty = degrees2duty(SERVO_MAX_DEG, pwm_max_dur, pwm_max_duty);
+        pwm.set_duty(Channel::Ch2, duty);
+        Timer::after_secs(1).await;
+    }
+
+    pwm.set_duty(Channel::Ch2, zero);
+    Timer::after_millis(600).await;
+
     treatbot_5k::exit()
 }