/* Sweep
 by BARRAGAN <http://barraganstudio.com>
 This example code is in the public domain.

 modified 8 Nov 2013
 by Scott Fitzgerald
 http://www.arduino.cc/en/Tutorial/Sweep
*/

#include <Servo.h>
#include <PID_v1.h>

#define PIN_INPUT 0
#define PIN_OUTPUT 3

//Define Variables we'll be connecting to
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
double Kp=2, Ki=5, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position
int dif = 30;

void setup() {
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  myservo.write(90);              // tell servo to go to position in variable 'pos'
  delay(15);                       // waits 15ms for the servo to reach the position
}

void loop() {
  for (pos = 90; pos <= 90+dif; 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
  }
//   myservo.write(90+dif);              // tell servo to go to position in variable 'pos'
//  delay(70);
//   myservo.write(90);              // tell servo to go to position in variable 'pos'
//   delay(500);                       // waits 15ms for the servo to reach the position

}