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+/* Sweep
+ by BARRAGAN <http://barraganstudio.com>
+ This example code is in the public domain.
+
+ modified 8 Nov 2013
+ by Scott Fitzgerald
+
+ modified for the ESP32 on March 2017
+ by John Bennett
+
+ see http://www.arduino.cc/en/Tutorial/Sweep for a description of the original code
+
+ * 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: (using an ESP32 Thing from Sparkfun)
+ * 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 pin 18.
+ * 
+ * In this example, we assume a Tower Pro MG995 large servo connected to an external power source.
+ * The published min and max for this servo is 1000 and 2000, respectively, so the defaults are fine.
+ * 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.
+ */
+
+#include <ESP32Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+// 16 servo objects can be created on the ESP32
+
+int pos = 0;    // variable to store the servo position
+// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
+// Possible PWM GPIO pins on the ESP32-S2: 0(used by on-board button),1-17,18(used by on-board LED),19-21,26,33-42
+// Possible PWM GPIO pins on the ESP32-S3: 0(used by on-board button),1-21,35-45,47,48(used by on-board LED)
+// Possible PWM GPIO pins on the ESP32-C3: 0(used by on-board button),1-7,8(used by on-board LED),9-10,18-21
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+int servoPin = 17;
+#elif defined(CONFIG_IDF_TARGET_ESP32C3)
+int servoPin = 7;
+#else
+int servoPin = 18;
+#endif
+
+void setup() {
+	// Allow allocation of all timers
+	ESP32PWM::allocateTimer(0);
+	ESP32PWM::allocateTimer(1);
+	ESP32PWM::allocateTimer(2);
+	ESP32PWM::allocateTimer(3);
+	myservo.setPeriodHertz(50);    // standard 50 hz servo
+	myservo.attach(servoPin, 1000, 2000); // attaches the servo on pin 18 to the servo object
+	// using default min/max of 1000us and 2000us
+	// different servos may require different min/max settings
+	// for an accurate 0 to 180 sweep
+}
+
+void loop() {
+
+	for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
+		// in steps of 1 degree
+		myservo.write(pos);    // tell servo to go to position in variable 'pos'
+		delay(15);             // waits 15ms for the servo to reach the position
+	}
+	for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
+		myservo.write(pos);    // tell servo to go to position in variable 'pos'
+		delay(15);             // waits 15ms for the servo to reach the position
+	}
+}
+