wip: move the servo incrementally.

1 files changed, 13 insertions, 4 deletions

diff --git a/main.c b/main.c
index 326f4ac..fc43684 100644
--- a/main.c
+++ b/main.c
@@ -13,6 +13,7 @@
 #define PWM_MID            1600
 #define PWM_MAX            2550
 #define PWM_TOP            19999
+#define PWM_DELTA          50
 
 #define LED_PIN            PB5
 #define LED_DDR            DDRB
@@ -54,14 +55,22 @@ static volatile enum CTRL cmd = NONE;
 
 static inline void lock(void)
 {
-	OCR1A = PWM_MID;
-	_delay_ms(500);
+	int pwm;
+
+	for (pwm = PWM_MID + PWM_DELTA; pwm < PWM_MAX; pwm += PWM_DELTA) {
+		OCR1A = pwm;
+		_delay_ms(50);
+	}
 }
 
 static inline void unlock(void)
 {
-	OCR1A = PWM_MAX;
-	_delay_ms(500);
+	int pwm;
+
+	for (pwm = PWM_MAX - PWM_DELTA; pwm > PWM_MID; pwm -= PWM_DELTA) {
+		OCR1A = pwm;
+		_delay_ms(50);
+	}
 }
 
 static inline void flash_led(void)