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+/*
+ * ESP32 Servo Example Using Arduino ESP32 Servo Library
+ * John K. Bennett
+ * March, 2017
+ * 
+ * This sketch uses the Arduino ESP32 Servo Library to sweep 4 servos in sequence.
+ * 
+ * Different servos require different pulse widths to vary servo angle, but the range is 
+ * an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
+ * sweep 180 degrees, so the lowest number in the published range for a particular servo
+ * represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
+ * of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
+ * 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
+ * degrees.
+ * 
+ * Circuit:
+ * Servo motors have three wires: power, ground, and signal. The power wire is typically red,
+ * the ground wire is typically black or brown, and the signal wire is typically yellow,
+ * orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
+ * considerable power, we will connect servo power to the VBat pin of the ESP32 (located
+ * near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. 
+ * 
+ * We could also connect servo power to a separate external
+ * power source (as long as we connect all of the grounds (ESP32, servo, and external power).
+ * In this example, we just connect ESP32 ground to servo ground. The servo signal pins
+ * connect to any available GPIO pins on the ESP32 (in this example, we use pins
+ * 22, 19, 23, & 18).
+ * 
+ * In this example, we assume four Tower Pro SG90 small servos.
+ * The published min and max for this servo are 500 and 2400, respectively.
+ * These values actually drive the servos a little past 0 and 180, so
+ * if you are particular, adjust the min and max values to match your needs.
+ * Experimentally, 550 and 2350 are pretty close to 0 and 180.
+ */
+
+#include <ESP32Servo.h>
+
+// create four servo objects 
+Servo servo1;
+Servo servo2;
+Servo servo3;
+Servo servo4;
+Servo servo5;
+// Published values for SG90 servos; adjust if needed
+int minUs = 1000;
+int maxUs = 2000;
+
+// These are all GPIO pins on the ESP32
+// Recommended pins include 2,4,12-19,21-23,25-27,32-33
+// for the ESP32-S2 the GPIO pins are 1-21,26,33-42
+// for the ESP32-S3 the GPIO pins are 1-21,35-45,47-48
+// for the ESP32-C3 the GPIO pins are 1-10,18-21
+#if defined(CONFIG_IDF_TARGET_ESP32C3)
+int servo1Pin = 7;
+int servo2Pin = 6;
+int servo3Pin = 5;
+int servo4Pin = 4;
+int servo5Pin = 3;
+#else
+int servo1Pin = 15;
+int servo2Pin = 16;
+int servo3Pin = 14;
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+int servo4Pin = 13;
+#else
+int servo4Pin = 32;
+#endif
+int servo5Pin = 4;
+#endif
+
+int pos = 0;      // position in degrees
+ESP32PWM pwm;
+void setup() {
+	// Allow allocation of all timers
+	ESP32PWM::allocateTimer(0);
+	ESP32PWM::allocateTimer(1);
+	ESP32PWM::allocateTimer(2);
+	ESP32PWM::allocateTimer(3);
+	Serial.begin(115200);
+	servo1.setPeriodHertz(50);      // Standard 50hz servo
+	servo2.setPeriodHertz(50);      // Standard 50hz servo
+	servo3.setPeriodHertz(330);      // Standard 50hz servo
+	servo4.setPeriodHertz(200);      // Standard 50hz servo
+	//servo5.setPeriodHertz(50);      // Standard 50hz servo
+
+
+}
+
+void loop() {
+	servo1.attach(servo1Pin, minUs, maxUs);
+	servo2.attach(servo2Pin, minUs, maxUs);
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32C3)
+	pwm.attachPin(37, 10000);//10khz
+#elif defined(CONFIG_IDF_TARGET_ESP32C3)
+	pwm.attachPin(7, 10000);//10khz
+#else
+	pwm.attachPin(27, 10000);//10khz
+#endif
+	servo3.attach(servo3Pin, minUs, maxUs);
+	servo4.attach(servo4Pin, minUs, maxUs);
+
+	//servo5.attach(servo5Pin, minUs, maxUs);
+
+
+	for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		servo1.write(pos);
+		delay(1);             // waits 20ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
+		servo1.write(pos);
+		delay(1);
+	}
+
+	for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		servo2.write(pos);
+		delay(1);             // waits 20ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
+		servo2.write(pos);
+		delay(1);
+	}
+
+	for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		servo3.write(pos);
+		delay(1);             // waits 20ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
+		servo3.write(pos);
+		delay(1);
+	}
+
+	for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		servo4.write(pos);
+		delay(1);             // waits 20ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
+		servo4.write(pos);
+		delay(1);
+	}
+	for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		servo5.write(pos);
+		delay(1);             // waits 20ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
+		servo5.write(pos);
+		delay(1);
+	}
+	servo1.detach();
+	servo2.detach();;
+	servo3.detach();
+	servo4.detach();
+	pwm.detachPin(27);
+
+	delay(5000);
+
+}
+