From 7e91183810a3a20beedb20ae8f277fc81bad3332 Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Wed, 10 Apr 2024 16:26:30 -0500
Subject: [PATCH 01/10] beginning servo motor implementation

---
 .../controllers/ServoMotorController.java       | 16 ++++++++++++++++
 components/src/main/resources/application.yml   |  7 +++++++
 .../outputdevices/ServoMotorHelper.java         | 17 +++++++++++++++++
 3 files changed, 40 insertions(+)
 create mode 100644 components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
 create mode 100644 pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java

diff --git a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
new file mode 100644
index 00000000..0be1d714
--- /dev/null
+++ b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
@@ -0,0 +1,16 @@
+package com.opensourcewithslu.components.controllers;
+
+import com.opensourcewithslu.outputdevices.ServoMotorHelper;
+import com.pi4j.io.pwm.Pwm;
+import io.micronaut.http.annotation.Controller;
+import jakarta.inject.Named;
+
+@Controller("/servoMotor")
+public class ServoMotorController {
+
+    private final ServoMotorHelper servoMotorHelper;
+
+    public ServoMotorController(@Named("servo-motor")Pwm servoMotor) {
+        this.servoMotorHelper = new ServoMotorHelper(servoMotor);
+    }
+}
diff --git a/components/src/main/resources/application.yml b/components/src/main/resources/application.yml
index 86abad60..078263ac 100644
--- a/components/src/main/resources/application.yml
+++ b/components/src/main/resources/application.yml
@@ -28,6 +28,13 @@ pi4j:
       provider: pigpio-pwm
       initial: 0
       shutdown: 0
+    servo-motor:
+      name: Servo Motor
+      address: 18
+      pwmType: SOFTWARE
+      provider: pigpio-pwm
+      initial: 0
+      shutdown: 0
   # end::pwm[]
 
   # tag::i2c[]
diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
new file mode 100644
index 00000000..41afee4a
--- /dev/null
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -0,0 +1,17 @@
+package com.opensourcewithslu.outputdevices;
+
+import com.pi4j.io.pwm.Pwm;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class ServoMotorHelper {
+
+    private static final Logger log = LoggerFactory.getLogger(ServoMotorHelper.class);
+
+    private final Pwm servoMotor;
+
+    public ServoMotorHelper(Pwm servoMotor)
+    {
+        this.servoMotor = servoMotor;
+    }
+}

From 044efbcd0ee0d697f557c6fac98591cafcfa1c55 Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Wed, 10 Apr 2024 16:45:31 -0500
Subject: [PATCH 02/10] servo motor updates

---
 .../controllers/ServoMotorController.java     | 17 +++++++++++++++++
 .../outputdevices/ServoMotorHelper.java       | 19 +++++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
index 0be1d714..fd8fda13 100644
--- a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
+++ b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
@@ -3,6 +3,8 @@
 import com.opensourcewithslu.outputdevices.ServoMotorHelper;
 import com.pi4j.io.pwm.Pwm;
 import io.micronaut.http.annotation.Controller;
+import io.micronaut.http.annotation.Get;
+import io.micronaut.http.annotation.Post;
 import jakarta.inject.Named;
 
 @Controller("/servoMotor")
@@ -13,4 +15,19 @@ public class ServoMotorController {
     public ServoMotorController(@Named("servo-motor")Pwm servoMotor) {
         this.servoMotorHelper = new ServoMotorHelper(servoMotor);
     }
+
+    @Get("/enable")
+    public void enableServoMotor() {
+        servoMotorHelper.enable();
+    }
+
+    @Get("/disable")
+    public void disableServoMotor() {
+        servoMotorHelper.disable();
+    }
+
+    @Post("/setAngle/{angle}")
+    public void setAngle(int angle) {
+        servoMotorHelper.setAngle(angle);
+    }
 }
diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 41afee4a..3a338c38 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -14,4 +14,23 @@ public ServoMotorHelper(Pwm servoMotor)
     {
         this.servoMotor = servoMotor;
     }
+
+    public void enable()
+    {
+        log.info("enabling servo motor");
+
+        servoMotor.on();
+    }
+
+    public void disable()
+    {
+        log.info("disabling servo motor");
+
+        servoMotor.off();
+    }
+
+    public void setAngle(int angle)
+    {
+        servoMotor.setFrequency(angle);
+    }
 }

From 8b829598a58a9d7b8c0ae7d51efec408e927850f Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Fri, 12 Apr 2024 11:36:05 -0500
Subject: [PATCH 03/10] servo motor updates

---
 .../controllers/ServoMotorController.java     |  3 +-
 .../outputdevices/ServoMotorHelper.java       | 34 +++++++++++++++++--
 2 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
index fd8fda13..05aa2ad6 100644
--- a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
+++ b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
@@ -4,7 +4,6 @@
 import com.pi4j.io.pwm.Pwm;
 import io.micronaut.http.annotation.Controller;
 import io.micronaut.http.annotation.Get;
-import io.micronaut.http.annotation.Post;
 import jakarta.inject.Named;
 
 @Controller("/servoMotor")
@@ -26,7 +25,7 @@ public void disableServoMotor() {
         servoMotorHelper.disable();
     }
 
-    @Post("/setAngle/{angle}")
+    @Get("/setAngle/{angle}")
     public void setAngle(int angle) {
         servoMotorHelper.setAngle(angle);
     }
diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 3a338c38..2ae751d0 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -4,24 +4,37 @@
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+/**
+ *
+ */
 public class ServoMotorHelper {
 
     private static final Logger log = LoggerFactory.getLogger(ServoMotorHelper.class);
 
     private final Pwm servoMotor;
 
+    /**
+     *
+     * @param servoMotor PWM
+     */
     public ServoMotorHelper(Pwm servoMotor)
     {
         this.servoMotor = servoMotor;
     }
 
+    /**
+     *
+     */
     public void enable()
     {
         log.info("enabling servo motor");
 
-        servoMotor.on();
+        servoMotor.on(0, 50);
     }
 
+    /**
+     *
+     */
     public void disable()
     {
         log.info("disabling servo motor");
@@ -29,8 +42,25 @@ public void disable()
         servoMotor.off();
     }
 
+    private float map(float value, int inMax, int outMin, int outMax)
+    {
+        return (outMax - outMin) * (value) / (inMax) + outMin;
+    }
+
+    /**
+     *
+     * @param angle integer
+     */
     public void setAngle(int angle)
     {
-        servoMotor.setFrequency(angle);
+        int MIN_ANGLE = 0;
+        int MAX_ANGLE = 180;
+        int SERVO_MIN_PULSE = 500;
+        int SERVO_MAX_PULSE = 2500;
+
+        angle = Math.max(MIN_ANGLE, Math.min(MAX_ANGLE, angle));
+        float pulse = map(angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+        float pwm = map(pulse, 20000, 0, 100);
+        servoMotor.setDutyCycle(pwm);
     }
 }

From 4302fa471d705fc9220ae3a6eea03169dd87c62f Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Sat, 13 Apr 2024 14:13:36 -0500
Subject: [PATCH 04/10] servo motor updates

---
 .../outputdevices/ServoMotorHelper.java         | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 2ae751d0..30a975de 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -5,7 +5,7 @@
 import org.slf4j.LoggerFactory;
 
 /**
- *
+ * The ServoMotorHelper class contains methods which are used to implement and control a servo motor.
  */
 public class ServoMotorHelper {
 
@@ -14,8 +14,8 @@ public class ServoMotorHelper {
     private final Pwm servoMotor;
 
     /**
-     *
-     * @param servoMotor PWM
+     * The ServoMotorHelper constructor.
+     * @param servoMotor A {@link  com.opensourcewithslu.utilities.PwmConfiguration} Object.
      */
     public ServoMotorHelper(Pwm servoMotor)
     {
@@ -23,7 +23,7 @@ public ServoMotorHelper(Pwm servoMotor)
     }
 
     /**
-     *
+     * Enables the servo motor by setting the duty cycle to 0 and the frequency to 50.
      */
     public void enable()
     {
@@ -33,7 +33,7 @@ public void enable()
     }
 
     /**
-     *
+     * Disables the servo motor.
      */
     public void disable()
     {
@@ -48,11 +48,13 @@ private float map(float value, int inMax, int outMin, int outMax)
     }
 
     /**
-     *
-     * @param angle integer
+     * Takes the angle as input and rotates the servo motor by that amount (between 0 and 180 degrees).
+     * @param angle An integer type
      */
     public void setAngle(int angle)
     {
+        log.info("Rotating the servo motor by " + angle + " degrees.");
+
         int MIN_ANGLE = 0;
         int MAX_ANGLE = 180;
         int SERVO_MIN_PULSE = 500;
@@ -61,6 +63,7 @@ public void setAngle(int angle)
         angle = Math.max(MIN_ANGLE, Math.min(MAX_ANGLE, angle));
         float pulse = map(angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
         float pwm = map(pulse, 20000, 0, 100);
+
         servoMotor.setDutyCycle(pwm);
     }
 }

From 36f2598c9f78eb7b8c602a11517baba1d4f52dec Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Sun, 14 Apr 2024 15:46:40 -0500
Subject: [PATCH 05/10] setAngle update in helper

---
 .../opensourcewithslu/outputdevices/ServoMotorHelper.java    | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 30a975de..eb082275 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -53,6 +53,11 @@ private float map(float value, int inMax, int outMin, int outMax)
      */
     public void setAngle(int angle)
     {
+        if (servoMotor.isOff())
+        {
+            log.info("You must enable the servo motor first.");
+            return;
+        }
         log.info("Rotating the servo motor by " + angle + " degrees.");
 
         int MIN_ANGLE = 0;

From 34f104cc534d03849220103aacf098337737ecdd Mon Sep 17 00:00:00 2001
From: ruthvikm <ruthviknathchowdary@gmail.com>
Date: Sun, 21 Apr 2024 15:37:43 -0500
Subject: [PATCH 06/10] arm moves inaccurately

---
 .../outputdevices/ServoMotorHelper.java       | 39 ++++++++++---------
 1 file changed, 20 insertions(+), 19 deletions(-)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index eb082275..efe89a11 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -10,7 +10,13 @@
 public class ServoMotorHelper {
 
     private static final Logger log = LoggerFactory.getLogger(ServoMotorHelper.class);
-
+    private static final int FREQUENCY = 50; // Frequency for PWM signal in Hz
+    private static final int PWM_CYCLE_MICROSECONDS = 2000; // Total cycle length in microseconds
+    private static final int MIN_ANGLE = 0;
+    private static final int MAX_ANGLE = 180;
+    private static final int SERVO_MIN_PULSE = 500; // Minimum pulse width in microseconds (0.5ms for 0 degrees)
+    private static final int SERVO_MAX_PULSE = 2500; // Maximum pulse width in microseconds (2.5ms for 180 degrees)
+    private boolean isEnabled = false; // State tracking variable for the servo motor
     private final Pwm servoMotor;
 
     /**
@@ -27,9 +33,9 @@ public ServoMotorHelper(Pwm servoMotor)
      */
     public void enable()
     {
-        log.info("enabling servo motor");
-
-        servoMotor.on(0, 50);
+        log.info("Enabling servo motor");
+        servoMotor.on(0, FREQUENCY);
+        isEnabled = true;
     }
 
     /**
@@ -37,9 +43,9 @@ public void enable()
      */
     public void disable()
     {
-        log.info("disabling servo motor");
-
+        log.info("Disabling servo motor");
         servoMotor.off();
+        isEnabled = false;
     }
 
     private float map(float value, int inMax, int outMin, int outMax)
@@ -51,24 +57,19 @@ private float map(float value, int inMax, int outMin, int outMax)
      * Takes the angle as input and rotates the servo motor by that amount (between 0 and 180 degrees).
      * @param angle An integer type
      */
-    public void setAngle(int angle)
-    {
-        if (servoMotor.isOff())
-        {
+    public void setAngle(int angle) {
+        if (!isEnabled) {
             log.info("You must enable the servo motor first.");
             return;
         }
-        log.info("Rotating the servo motor by " + angle + " degrees.");
-
-        int MIN_ANGLE = 0;
-        int MAX_ANGLE = 180;
-        int SERVO_MIN_PULSE = 500;
-        int SERVO_MAX_PULSE = 2500;
 
         angle = Math.max(MIN_ANGLE, Math.min(MAX_ANGLE, angle));
-        float pulse = map(angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
-        float pwm = map(pulse, 20000, 0, 100);
 
-        servoMotor.setDutyCycle(pwm);
+        float pulseWidth = map(angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+        float dutyCycle = map(pulseWidth, PWM_CYCLE_MICROSECONDS, 0, 100);
+
+        log.info("Setting servo to {} degrees, Pulse Width: {} us, Duty Cycle: {}%", angle, pulseWidth, dutyCycle);
+
+        servoMotor.on(dutyCycle);
     }
 }

From 185ec9b4863a06a26b1227b82648157e755f9796 Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Sun, 21 Apr 2024 17:00:13 -0500
Subject: [PATCH 07/10] setAngle and map updates in helper

---
 .../outputdevices/ServoMotorHelper.java       | 20 ++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index efe89a11..74b785fb 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -48,28 +48,34 @@ public void disable()
         isEnabled = false;
     }
 
-    private float map(float value, int inMax, int outMin, int outMax)
+    private float map(float value, float inMax, float outMin, float outMax)
     {
-        return (outMax - outMin) * (value) / (inMax) + outMin;
+        return ((outMax - outMin) * (value)) / ((inMax) + outMin);
     }
 
     /**
      * Takes the angle as input and rotates the servo motor by that amount (between 0 and 180 degrees).
      * @param angle An integer type
      */
-    public void setAngle(int angle) {
-        if (!isEnabled) {
+    public void setAngle(int angle)
+    {
+        if (!isEnabled)
+        {
             log.info("You must enable the servo motor first.");
             return;
         }
 
-        angle = Math.max(MIN_ANGLE, Math.min(MAX_ANGLE, angle));
+        if (angle < MIN_ANGLE || angle > MAX_ANGLE)
+        {
+            log.info("You must enter an angle between 0 and 180 degrees.");
+            return;
+        }
 
-        float pulseWidth = map(angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+        float pulseWidth = map((float)angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
         float dutyCycle = map(pulseWidth, PWM_CYCLE_MICROSECONDS, 0, 100);
 
         log.info("Setting servo to {} degrees, Pulse Width: {} us, Duty Cycle: {}%", angle, pulseWidth, dutyCycle);
 
-        servoMotor.on(dutyCycle);
+        servoMotor.on(dutyCycle, FREQUENCY);
     }
 }

From df679c4765b7ebe5f13efa4ce657c232b802f27c Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Sun, 21 Apr 2024 17:17:16 -0500
Subject: [PATCH 08/10] updated map logic in helper

---
 .../outputdevices/ServoMotorHelper.java               | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 74b785fb..10970207 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -50,15 +50,14 @@ public void disable()
 
     private float map(float value, float inMax, float outMin, float outMax)
     {
-        return ((outMax - outMin) * (value)) / ((inMax) + outMin);
+        return ((outMax - outMin) * (value - (float) ServoMotorHelper.MIN_ANGLE)) / ((inMax - (float) ServoMotorHelper.MIN_ANGLE) + outMin);
     }
 
     /**
      * Takes the angle as input and rotates the servo motor by that amount (between 0 and 180 degrees).
      * @param angle An integer type
      */
-    public void setAngle(int angle)
-    {
+    public void setAngle(int angle) {
         if (!isEnabled)
         {
             log.info("You must enable the servo motor first.");
@@ -77,5 +76,11 @@ public void setAngle(int angle)
         log.info("Setting servo to {} degrees, Pulse Width: {} us, Duty Cycle: {}%", angle, pulseWidth, dutyCycle);
 
         servoMotor.on(dutyCycle, FREQUENCY);
+
+        try{
+            Thread.sleep(1000); //Allow a full second for servo to rotate
+        } catch (InterruptedException e){
+            Thread.currentThread().interrupt();
+        }
     }
 }

From 863a0d6d5d60db302e053aef33c9866cd282f49b Mon Sep 17 00:00:00 2001
From: ruthvikm <ruthviknathchowdary@gmail.com>
Date: Wed, 24 Apr 2024 14:21:49 -0500
Subject: [PATCH 09/10] servo motor works for 0 to 180

---
 .../outputdevices/ServoMotorHelper.java       | 79 ++++++++++---------
 1 file changed, 42 insertions(+), 37 deletions(-)

diff --git a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
index 10970207..2ba710c0 100644
--- a/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
+++ b/pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
@@ -5,82 +5,87 @@
 import org.slf4j.LoggerFactory;
 
 /**
- * The ServoMotorHelper class contains methods which are used to implement and control a servo motor.
+ * Helper class to control a servo motor using PWM (Pulse Width Modulation).
+ * This class provides methods to enable, disable, and set the angle of a servo motor.
  */
 public class ServoMotorHelper {
 
     private static final Logger log = LoggerFactory.getLogger(ServoMotorHelper.class);
-    private static final int FREQUENCY = 50; // Frequency for PWM signal in Hz
-    private static final int PWM_CYCLE_MICROSECONDS = 2000; // Total cycle length in microseconds
-    private static final int MIN_ANGLE = 0;
-    private static final int MAX_ANGLE = 180;
-    private static final int SERVO_MIN_PULSE = 500; // Minimum pulse width in microseconds (0.5ms for 0 degrees)
-    private static final int SERVO_MAX_PULSE = 2500; // Maximum pulse width in microseconds (2.5ms for 180 degrees)
-    private boolean isEnabled = false; // State tracking variable for the servo motor
-    private final Pwm servoMotor;
+    private static final int FREQUENCY = 50; // Frequency for PWM signal in Hz, typical for servo motors.
+    private static final int PWM_CYCLE_MICROSECONDS = 20000; // Total cycle length in microseconds, corresponding to 50 Hz.
+    private static final int MIN_ANGLE = 0; // Minimum angle for servo operation.
+    private static final int MAX_ANGLE = 180; // Maximum angle for servo operation.
+    private static final int SERVO_MIN_PULSE = 500; // Minimum pulse width in microseconds corresponding to 0 degrees.
+    private static final int SERVO_MAX_PULSE = 2500; // Maximum pulse width in microseconds corresponding to 180 degrees.
+    private boolean isEnabled = false; // State tracking variable for the servo motor.
+    private final Pwm servoMotor; // PWM interface for the servo motor.
 
     /**
-     * The ServoMotorHelper constructor.
-     * @param servoMotor A {@link  com.opensourcewithslu.utilities.PwmConfiguration} Object.
+     * Constructs a new ServoMotorHelper.
+     *
+     * @param servoMotor A PWM interface to control the servo motor.
      */
-    public ServoMotorHelper(Pwm servoMotor)
-    {
+    public ServoMotorHelper(Pwm servoMotor) {
         this.servoMotor = servoMotor;
     }
 
     /**
-     * Enables the servo motor by setting the duty cycle to 0 and the frequency to 50.
+     * Enables the servo motor by setting an initial duty cycle and frequency.
+     * The servo motor remains disabled until this method is called.
      */
-    public void enable()
-    {
+    public void enable() {
         log.info("Enabling servo motor");
-        servoMotor.on(0, FREQUENCY);
+        servoMotor.on(0, FREQUENCY); // Initializes PWM signal with 0% duty cycle.
         isEnabled = true;
     }
 
     /**
-     * Disables the servo motor.
+     * Disables the servo motor, effectively stopping any ongoing PWM signal.
      */
-    public void disable()
-    {
+    public void disable() {
         log.info("Disabling servo motor");
-        servoMotor.off();
+        servoMotor.off(); // Stops the PWM signal.
         isEnabled = false;
     }
 
-    private float map(float value, float inMax, float outMin, float outMax)
-    {
-        return ((outMax - outMin) * (value - (float) ServoMotorHelper.MIN_ANGLE)) / ((inMax - (float) ServoMotorHelper.MIN_ANGLE) + outMin);
+    /**
+     * Maps the given angle to the corresponding pulse width for the servo motor.
+     *
+     * @param value the angle in degrees to be mapped to pulse width.
+     * @return the calculated pulse width in microseconds.
+     */
+    private float map(float value) {
+        return SERVO_MIN_PULSE + ((value - MIN_ANGLE) * (SERVO_MAX_PULSE - SERVO_MIN_PULSE) / (MAX_ANGLE - MIN_ANGLE));
     }
 
     /**
-     * Takes the angle as input and rotates the servo motor by that amount (between 0 and 180 degrees).
-     * @param angle An integer type
+     * Sets the servo motor to a specific angle.
+     * This method calculates the necessary pulse width and duty cycle to achieve the specified angle.
+     *
+     * @param angle the target angle for the servo motor, between 0 and 180 degrees.
      */
     public void setAngle(int angle) {
-        if (!isEnabled)
-        {
+        if (!isEnabled) {
             log.info("You must enable the servo motor first.");
             return;
         }
 
-        if (angle < MIN_ANGLE || angle > MAX_ANGLE)
-        {
+        if (angle < MIN_ANGLE || angle > MAX_ANGLE) {
             log.info("You must enter an angle between 0 and 180 degrees.");
             return;
         }
 
-        float pulseWidth = map((float)angle, MAX_ANGLE, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
-        float dutyCycle = map(pulseWidth, PWM_CYCLE_MICROSECONDS, 0, 100);
+        float pulseWidth = map(angle);
+        float dutyCycle = (pulseWidth / PWM_CYCLE_MICROSECONDS) * 100;
 
         log.info("Setting servo to {} degrees, Pulse Width: {} us, Duty Cycle: {}%", angle, pulseWidth, dutyCycle);
 
         servoMotor.on(dutyCycle, FREQUENCY);
-
-        try{
-            Thread.sleep(1000); //Allow a full second for servo to rotate
-        } catch (InterruptedException e){
-            Thread.currentThread().interrupt();
+        try {
+            Thread.sleep(100); // Pauses the thread to allow the servo to reach the set angle.
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt(); // Properly handle thread interruption.
+            log.info("Thread was interrupted, failed to complete rotation");
         }
     }
 }

From 9844ba17e3af1a52f8675fec7a56e8794af9add8 Mon Sep 17 00:00:00 2001
From: Joe Folen <joe.folen@gmail.com>
Date: Fri, 26 Apr 2024 11:31:19 -0500
Subject: [PATCH 10/10] added tag in controller

---
 .../components/controllers/ServoMotorController.java            | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
index 05aa2ad6..2d433690 100644
--- a/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
+++ b/components/src/main/java/com/opensourcewithslu/components/controllers/ServoMotorController.java
@@ -6,6 +6,7 @@
 import io.micronaut.http.annotation.Get;
 import jakarta.inject.Named;
 
+//tag::ex[]
 @Controller("/servoMotor")
 public class ServoMotorController {
 
@@ -30,3 +31,4 @@ public void setAngle(int angle) {
         servoMotorHelper.setAngle(angle);
     }
 }
+//end::ex[]