{

const int rangeIn = maxIn - minIn;

const int rangeOut = maxOut - minOut;

const int deltaIn = value - minIn;

// fixed point math constants to improve accurancy of divide and rounding

constexpr int fixedHalfDecimal = 1;

constexpr int fixedDecimal = fixedHalfDecimal * 2;

return ((deltaIn * rangeOut * fixedDecimal) / (rangeIn) + fixedHalfDecimal) / fixedDecimal + minOut;

{

_attached = false;

_valueUs = DEFAULT_NEUTRAL_PULSE_WIDTH;

_minUs = DEFAULT_MIN_PULSE_WIDTH;

_maxUs = DEFAULT_MAX_PULSE_WIDTH;

{

if (!_attached) {

pinMode(pin, OUTPUT);

digitalWrite(pin, LOW);

_pin = pin;

_attached = true;

}

// keep the min and max within 200-3000 us, these are extreme

// ranges and should support extreme servos while maintaining

// reasonable ranges

_maxUs = max((uint16_t)250, min((uint16_t)3000, maxUs));

_minUs = max((uint16_t)200, min(_maxUs, minUs));

write(value);

return pin;

{

if (_attached) {

_servoMap &= ~(1 << _pin);

startWaveform(_pin, 0, REFRESH_INTERVAL, 1);

delay(REFRESH_INTERVAL / 1000); // long enough to complete active period under all circumstances.

stopWaveform(_pin);

_attached = false;

_valueUs = DEFAULT_NEUTRAL_PULSE_WIDTH;

}

{

// treat any value less than 200 as angle in degrees (values equal or larger are handled as microseconds)

if (value < 200) {

// assumed to be 0-180 degrees servo

value = constrain(value, 0, 180);

value = improved_map(value, 0, 180, _minUs, _maxUs);

}

writeMicroseconds(value);

{

value = constrain(value, _minUs, _maxUs);

_valueUs = value;

if (_attached) {

_servoMap &= ~(1 << _pin);

// Find the first GPIO being generated by checking GCC's find-first-set (returns 1 + the bit of the first 1 in an int32_t)

int phaseReference = __builtin_ffs(_servoMap) - 1;

if (startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0, phaseReference))

{

_servoMap |= (1 << _pin);

}

}

{

// read returns the angle for an assumed 0-180

return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);