/* ServoPWM
* ---------------
*
* Comments
*
* (copyright notice) 2007 by Moe
* <http://youraddress.here>
* <mailto:you@youraddress.here>
*
*/

int val = 0;

void setup(void) {
pinMode(10,OUTPUT); // Servo Pin
pinMode(5,OUTPUT); // Servo Pin
Serial.begin(9600);

TCCR1A = 0x00; // sets timer control bits to PWM Phase and Frequency Correct mode
TCCR1B = 0x12; // sets timer control bits to Prescaler N = 8
//ICR1 = 0x0FA0;; // Upper Timer Limit = 4000 (in hex) equals 4ms => 1/5 of servo frequency
ICR1 = 0x4E20; // My own frequency of the PWM: Upper Timer Limit = 20000 (in hex) equals 20ms => 1/1 of servo frequency

TCCR0A = 0x01; // sets timer control bits to PWM Phase and Frequency Correct mode
TCCR0B = 0x0D; // sets timer control bits to Prescaler N = 8
//ICR1 = 0x0FA0;; // Upper Timer Limit = 4000 (in hex) equals 4ms => 1/5 of servo frequency
OCR0A = 156;    //0x3F; // My own frequency of the PWM: Upper Timer Limit = 20000 (in hex) equals 20ms => 1/1 of servo frequencyâ
}

void loop(void) {
val = analogRead(0); // read potentiometer
Serial.print ("Poti-value: " );
Serial.println( val); // poti servo value: must be from 0-1024 (=10 bit)
val = (val * 1.38) + 600; // convert potentiometer reading to value in microseconds (my servo responds to signals in the 600us - 2400us range > use 1.6 as factor)
                         // the conrad servor responds to 600-2020us range > so i used 1.38
analogWrite(10,val); // pulse servo
analogWrite(5,20); // pulse servo
Serial.print ("Servo-value: " );
Serial.println( val); // output servo value

}