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#define F_CPU 1000000UL
#include <avr/io.h>
#include <util/delay.h>

void setupPWM() {
	// Set Fast PWM mode with ICR1 as TOP (Mode 14: WGM13:WGM10 = 14)
	TCCR1A = (1 << WGM11);
	TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11) | (1 << CS10);  // Prescaler = 64

	// Set non-inverting mode on OC1A (Clear OC1A on compare match, set at BOTTOM)
	TCCR1A |= (1 << COM1A1);

	// Set TOP value for 50Hz (ICR1 = 311)
	ICR1 = 311;

	// Set PD5 (OC1A) as output
	DDRD |= (1 << PD5);
}

void setServoPosition(int pulseWidth) {
	// Set the OCR1A register for the specified pulse width
	OCR1A = pulseWidth;
}

int main() {
	setupPWM();  // Initialize PWM

	while(1) {
		// Sweep from 0° (1ms) to 180° (2ms)
		for (int pulseWidth = 16; pulseWidth <= 31; pulseWidth++) {
			setServoPosition(pulseWidth);  // Move servo to current position
			_delay_ms(50);                 // Delay to control the speed of movement
		}

		// Sweep from 180° (2ms) back to 0° (1ms)
		for (int pulseWidth = 31; pulseWidth >= 16; pulseWidth--) {
			setServoPosition(pulseWidth);  // Move servo to current position
			_delay_ms(50);                 // Delay to control the speed of movement
		}
	}
}