/*
 * MAPS MOVEMEMENT SPEED TO POT VALUE
 */

int servoPin = A7;      // Control pin for servo motor
int potPin   = A6;      // select the input pin for the potentiometer

int pulseWidth = 0;    // Amount to pulse the servo
long lastPulse = 0;    // the time in millisecs of the last pulse
int refreshTime = 20;  // the time in millisecs needed in between pulses
int val;               // variable used to store data from potentiometer

int minPulse = 500;   // minimum pulse width
int initTime = millis();
void setup() {
  pinMode(servoPin, OUTPUT);  // Set servo pin as an output pin
  pulseWidth = minPulse;      // Set the motor position to the minimum
  Serial.begin(9600);         // connect to the serial port
  Serial.println("servo_serial_better ready");
}

float analog = 0;
int threshold = 400;
boolean switcher = false;
int timeSpent = 0;
void moveForward(){
   pulseWidth = 0*2 + minPulse;  // convert angle to microseconds

}
void moveBackward(){
     
   pulseWidth = 600*2 + minPulse;  // convert angle to microseconds
   
}
void loop() {
  analog = analogRead(potPin) / 1024.0;
  val = analog * 600;
  Serial.println(millis() - initTime);
  timeSpent = millis() - initTime;
  if(timeSpent > threshold + val){
    initTime = millis();
    switcher = !switcher;  
  }
  
  if(switcher)
    moveForward();
  else
    moveBackward();
  updateServo();

}

// called every loop(). 
void updateServo() {
  // pulse the servo again if the refresh time (20 ms) has passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(servoPin, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position
    digitalWrite(servoPin, LOW);    // Turn the motor off
    lastPulse = millis();           // save the time of the last pulse
  }
}