From ea036478c240fa93747cb3bb8a6c02b5bfa03e57 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan.seidle@sparkfun.local>
Date: Wed, 26 Jun 2019 17:04:40 -0600
Subject: [PATCH 01/10] Initial push. Mostly working. Needs writeMicro and
 overloaded attach.

---
 libraries/Servo/keywords.txt       | 28 +++++++++++
 libraries/Servo/library.properties |  9 ++++
 libraries/Servo/src/Servo.cpp      | 74 ++++++++++++++++++++++++++++++
 libraries/Servo/src/Servo.h        | 46 +++++++++++++++++++
 4 files changed, 157 insertions(+)
 create mode 100644 libraries/Servo/keywords.txt
 create mode 100644 libraries/Servo/library.properties
 create mode 100644 libraries/Servo/src/Servo.cpp
 create mode 100644 libraries/Servo/src/Servo.h

diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt
new file mode 100644
index 00000000..39478d63
--- /dev/null
+++ b/libraries/Servo/keywords.txt
@@ -0,0 +1,28 @@
+#######################################
+# Syntax Coloring Map
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+attach	KEYWORD2
+write	KEYWORD2
+detach	KEYWORD2
+read	KEYWORD2
+
+writeMicroseconds	KEYWORD2
+attached	KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
diff --git a/libraries/Servo/library.properties b/libraries/Servo/library.properties
new file mode 100644
index 00000000..fef49e29
--- /dev/null
+++ b/libraries/Servo/library.properties
@@ -0,0 +1,9 @@
+name=Servo
+version=1.0.0
+author=SparkFun Electronics
+maintainer=SparkFun Electronics <sparkfun.com>
+sentence=Allows control of standard PWM based servos
+paragraph=
+category=Device Control
+url=http://www.arduino.cc/en/Reference/Servo
+architectures=apollo3
diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
new file mode 100644
index 00000000..56e0ae94
--- /dev/null
+++ b/libraries/Servo/src/Servo.cpp
@@ -0,0 +1,74 @@
+/*
+
+Copyright (c) 2015 Arduino LLC. All rights reserved.
+Copyright (c) 2019 SparkFun Electronics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "Servo.h"
+#include "Arduino.h"
+
+//Constructor
+Servo::Servo()
+{
+}
+
+//Assign global var
+void Servo::attach(uint8_t pinNumber)
+{
+	_servoPinNumber = pinNumber;
+	_servoPadNumber = ap3_gpio_pin2pad(pinNumber);
+}
+
+void Servo::write(uint8_t servoPosition)
+{
+	_servoPosition = servoPosition;
+	if (_servoPosition > 180)
+		_servoPosition = 180; //Bounds check
+
+	uint16_t newServoPosition = map(servoPosition, 0, 180, 0, 1023);
+
+	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+}
+
+void Servo::writeMicroseconds(uint8_t servoPosition)
+{
+
+	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+}
+
+void Servo::detach(void)
+{
+	_servoPinNumber = NULL;
+	_servoPadNumber = NULL;
+	pinMode(_servoPinNumber, INPUT); //Will stop PWM output
+}
+
+uint8_t Servo::read(void)
+{
+	return (_servoPosition);
+}
+
+bool Servo::attached(uint8_t pinNumber)
+{
+	if (_servoPinNumber == pinNumber)
+		return (true);
+	return (false);
+}
\ No newline at end of file
diff --git a/libraries/Servo/src/Servo.h b/libraries/Servo/src/Servo.h
new file mode 100644
index 00000000..b3a0ce9b
--- /dev/null
+++ b/libraries/Servo/src/Servo.h
@@ -0,0 +1,46 @@
+/*
+Copyright (c) 2019 SparkFun Electronics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+// ToDo: Make TwoWire a library (under "libraries") to get syntax highlighting
+
+#ifndef _AP3_SERVO_H_
+#define _AP3_SERVO_H_
+
+#include "Arduino.h"
+
+class Servo
+{
+public:
+  Servo();
+  void attach(uint8_t pinNumber);
+  void write(uint8_t servoPosition);
+  void detach(void);
+  uint8_t read(void);
+  bool attached(uint8_t pinNumber);
+
+private:
+  uint8_t _servoPadNumber = NULL;
+  uint8_t _servoPinNumber = NULL;
+  uint8_t _servoPosition;
+};
+
+#endif // _AP3_SERVO_H_

From e379561baf0a1136c5508f1ff5fd3396638fca1b Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 1 Jul 2019 19:44:53 -0600
Subject: [PATCH 02/10] White space change

---
 cores/arduino/ard_sup/analog/ap3_analog.cpp | 258 ++++++++++----------
 1 file changed, 134 insertions(+), 124 deletions(-)

diff --git a/cores/arduino/ard_sup/analog/ap3_analog.cpp b/cores/arduino/ard_sup/analog/ap3_analog.cpp
index ed6ed621..71131d34 100644
--- a/cores/arduino/ard_sup/analog/ap3_analog.cpp
+++ b/cores/arduino/ard_sup/analog/ap3_analog.cpp
@@ -27,9 +27,9 @@ SOFTWARE.
 
 #include "ap3_analog.h"
 
-// Define the clock source and frequency to use for 
-// PWM generation. 
-// Chose 12 MHz to allow maximal resolution with a 
+// Define the clock source and frequency to use for
+// PWM generation.
+// Chose 12 MHz to allow maximal resolution with a
 // target maximum width of 2ms (for RC servos)
 // 1/12MHz = 0.083 uS per LSB.
 // 2ms/0.083us = 24000 LSB for 2 ms wide pulse
@@ -41,14 +41,14 @@ SOFTWARE.
     instead or maybe we can even go ahead and support the Servo library
 */
 
-#define AP3_ANALOG_CLK              
-#define AP3_ANALOG_FREQ             12000000           
-#define AP3_ANALOG_FRAME_PERIOD     24000       
+#define AP3_ANALOG_CLK
+#define AP3_ANALOG_FREQ 12000000
+#define AP3_ANALOG_FRAME_PERIOD 24000
 
 //*****************************************************************************
 //
 //  Tables copied from am_hal_ctimer.c because they are declared as static within
-//  that file, but they would be useful here too. 
+//  that file, but they would be useful here too.
 //
 //  Lookup tables used by am_hal_ctimer_output_config().
 //
@@ -65,63 +65,63 @@ SOFTWARE.
 //  OUTCFG 7 = A7OUT2.
 //
 //*****************************************************************************
-#define CTXPADNUM(ctx)  ((CTx_tbl[ctx] >> 0) & 0x3f)
-#define CTXPADFNC(ctx)  ((CTx_tbl[ctx] >> 8) & 0x7)
-#define CTX(pad, fn)    ((fn << 8) | (pad << 0))
+#define CTXPADNUM(ctx) ((CTx_tbl[ctx] >> 0) & 0x3f)
+#define CTXPADFNC(ctx) ((CTx_tbl[ctx] >> 8) & 0x7)
+#define CTX(pad, fn) ((fn << 8) | (pad << 0))
 static const uint16_t CTx_tbl[32] =
-{
-    CTX(12,2), CTX(25,2), CTX(13,2), CTX(26,2), CTX(18,2),      // 0 - 4
-    CTX(27,2), CTX(19,2), CTX(28,2), CTX( 5,7), CTX(29,2),      // 5 - 9
-    CTX( 6,5), CTX(30,2), CTX(22,2), CTX(31,2), CTX(23,2),      // 10 - 14
-    CTX(32,2), CTX(42,2), CTX( 4,6), CTX(43,2), CTX( 7,7),      // 15 - 19
-    CTX(44,2), CTX(24,5), CTX(45,2), CTX(33,6), CTX(46,2),      // 20 - 24
-    CTX(39,2), CTX(47,2), CTX(35,5), CTX(48,2), CTX(37,7),      // 25 - 29
-    CTX(49,2), CTX(11,2)                                        // 30 - 31
+    {
+        CTX(12, 2), CTX(25, 2), CTX(13, 2), CTX(26, 2), CTX(18, 2), // 0 - 4
+        CTX(27, 2), CTX(19, 2), CTX(28, 2), CTX(5, 7), CTX(29, 2),  // 5 - 9
+        CTX(6, 5), CTX(30, 2), CTX(22, 2), CTX(31, 2), CTX(23, 2),  // 10 - 14
+        CTX(32, 2), CTX(42, 2), CTX(4, 6), CTX(43, 2), CTX(7, 7),   // 15 - 19
+        CTX(44, 2), CTX(24, 5), CTX(45, 2), CTX(33, 6), CTX(46, 2), // 20 - 24
+        CTX(39, 2), CTX(47, 2), CTX(35, 5), CTX(48, 2), CTX(37, 7), // 25 - 29
+        CTX(49, 2), CTX(11, 2)                                      // 30 - 31
 };
 
-#define OUTC(timB,timN,N2)      ((N2 << 4) | (timB << 3) | (timN << 0))
-#define OUTCTIMN(ctx,n)         (outcfg_tbl[ctx][n] & (0x7 << 0))
-#define OUTCTIMB(ctx,n)         (outcfg_tbl[ctx][n] & (0x1 << 3))
-#define OUTCO2(ctx,n)           (outcfg_tbl[ctx][n] & (0x1 << 4))
+#define OUTC(timB, timN, N2) ((N2 << 4) | (timB << 3) | (timN << 0))
+#define OUTCTIMN(ctx, n) (outcfg_tbl[ctx][n] & (0x7 << 0))
+#define OUTCTIMB(ctx, n) (outcfg_tbl[ctx][n] & (0x1 << 3))
+#define OUTCO2(ctx, n) (outcfg_tbl[ctx][n] & (0x1 << 4))
 static const uint8_t outcfg_tbl[32][4] =
-{
-    {OUTC(0,0,0), OUTC(1,2,1), OUTC(0,5,1), OUTC(0,6,0)},     // CTX0:  A0OUT,  B2OUT2, A5OUT2, A6OUT
-    {OUTC(0,0,1), OUTC(0,0,0), OUTC(0,5,0), OUTC(1,7,1)},     // CTX1:  A0OUT2, A0OUT,  A5OUT,  B7OUT2
-    {OUTC(1,0,0), OUTC(1,1,1), OUTC(1,6,1), OUTC(0,7,0)},     // CTX2:  B0OUT,  B1OUT2, B6OUT2, A7OUT
-    {OUTC(1,0,1), OUTC(1,0,0), OUTC(0,1,0), OUTC(0,6,0)},     // CTX3:  B0OUT2, B0OUT,  A1OUT,  A6OUT
-    {OUTC(0,1,0), OUTC(0,2,1), OUTC(0,5,1), OUTC(1,5,0)},     // CTX4:  A1OUT,  A2OUT2, A5OUT2, B5OUT
-    {OUTC(0,1,1), OUTC(0,1,0), OUTC(1,6,0), OUTC(0,7,0)},     // CTX5:  A1OUT2, A1OUT,  B6OUT,  A7OUT
-    {OUTC(1,1,0), OUTC(0,1,0), OUTC(1,5,1), OUTC(1,7,0)},     // CTX6:  B1OUT,  A1OUT,  B5OUT2, B7OUT
-    {OUTC(1,1,1), OUTC(1,1,0), OUTC(1,5,0), OUTC(0,7,0)},     // CTX7:  B1OUT2, B1OUT,  B5OUT,  A7OUT
-    {OUTC(0,2,0), OUTC(0,3,1), OUTC(0,4,1), OUTC(1,6,0)},     // CTX8:  A2OUT,  A3OUT2, A4OUT2, B6OUT
-    {OUTC(0,2,1), OUTC(0,2,0), OUTC(0,4,0), OUTC(1,0,0)},     // CTX9:  A2OUT2, A2OUT,  A4OUT,  B0OUT
-    {OUTC(1,2,0), OUTC(1,3,1), OUTC(1,4,1), OUTC(0,6,0)},     // CTX10: B2OUT,  B3OUT2, B4OUT2, A6OUT
-    {OUTC(1,2,1), OUTC(1,2,0), OUTC(1,4,0), OUTC(1,5,1)},     // CTX11: B2OUT2, B2OUT,  B4OUT,  B5OUT2
-    {OUTC(0,3,0), OUTC(1,1,0), OUTC(1,0,1), OUTC(1,6,1)},     // CTX12: A3OUT,  B1OUT,  B0OUT2, B6OUT2
-    {OUTC(0,3,1), OUTC(0,3,0), OUTC(0,6,0), OUTC(1,4,1)},     // CTX13: A3OUT2, A3OUT,  A6OUT,  B4OUT2
-    {OUTC(1,3,0), OUTC(1,1,0), OUTC(1,7,1), OUTC(0,7,0)},     // CTX14: B3OUT,  B1OUT,  B7OUT2, A7OUT
-    {OUTC(1,3,1), OUTC(1,3,0), OUTC(0,7,0), OUTC(0,4,1)},     // CTX15: B3OUT2, B3OUT,  A7OUT,  A4OUT2
-    {OUTC(0,4,0), OUTC(0,0,0), OUTC(0,0,1), OUTC(1,3,1)},     // CTX16: A4OUT,  A0OUT,  A0OUT2, B3OUT2
-    {OUTC(0,4,1), OUTC(1,7,0), OUTC(0,4,0), OUTC(0,1,1)},     // CTX17: A4OUT2, B7OUT,  A4OUT,  A1OUT2
-    {OUTC(1,4,0), OUTC(1,0,0), OUTC(0,0,0), OUTC(0,3,1)},     // CTX18: B4OUT,  B0OUT,  A0OUT,  A3OUT2
-    {OUTC(1,4,1), OUTC(0,2,0), OUTC(1,4,0), OUTC(1,1,1)},     // CTX19: B4OUT2, A2OUT,  B4OUT,  B1OUT2
-    {OUTC(0,5,0), OUTC(0,1,0), OUTC(0,1,1), OUTC(1,2,1)},     // CTX20: A5OUT,  A1OUT,  A1OUT2, B2OUT2
-    {OUTC(0,5,1), OUTC(0,1,0), OUTC(1,5,0), OUTC(0,0,1)},     // CTX21: A5OUT2, A1OUT,  B5OUT,  A0OUT2
-    {OUTC(1,5,0), OUTC(0,6,0), OUTC(0,1,0), OUTC(0,2,1)},     // CTX22: B5OUT,  A6OUT,  A1OUT,  A2OUT2
-    {OUTC(1,5,1), OUTC(0,7,0), OUTC(0,5,0), OUTC(1,0,1)},     // CTX23: B5OUT2, A7OUT,  A5OUT,  B0OUT2
-    {OUTC(0,6,0), OUTC(0,2,0), OUTC(0,1,0), OUTC(1,1,1)},     // CTX24: A6OUT,  A2OUT,  A1OUT,  B1OUT2
-    {OUTC(1,4,1), OUTC(1,2,0), OUTC(0,6,0), OUTC(0,2,1)},     // CTX25: B4OUT2, B2OUT,  A6OUT,  A2OUT2
-    {OUTC(1,6,0), OUTC(1,2,0), OUTC(0,5,0), OUTC(0,1,1)},     // CTX26: B6OUT,  B2OUT,  A5OUT,  A1OUT2
-    {OUTC(1,6,1), OUTC(0,1,0), OUTC(1,6,0), OUTC(1,2,1)},     // CTX27: B6OUT2, A1OUT,  B6OUT,  B2OUT2
-    {OUTC(0,7,0), OUTC(0,3,0), OUTC(0,5,1), OUTC(1,0,1)},     // CTX28: A7OUT,  A3OUT,  A5OUT2, B0OUT2
-    {OUTC(1,5,1), OUTC(0,1,0), OUTC(0,7,0), OUTC(0,3,1)},     // CTX29: B5OUT2, A1OUT,  A7OUT,  A3OUT2
-    {OUTC(1,7,0), OUTC(1,3,0), OUTC(0,4,1), OUTC(0,0,1)},     // CTX30: B7OUT,  B3OUT,  A4OUT2, A0OUT2
-    {OUTC(1,7,1), OUTC(0,6,0), OUTC(1,7,0), OUTC(1,3,1)},     // CTX31: B7OUT2, A6OUT,  B7OUT,  B3OUT2
+    {
+        {OUTC(0, 0, 0), OUTC(1, 2, 1), OUTC(0, 5, 1), OUTC(0, 6, 0)}, // CTX0:  A0OUT,  B2OUT2, A5OUT2, A6OUT
+        {OUTC(0, 0, 1), OUTC(0, 0, 0), OUTC(0, 5, 0), OUTC(1, 7, 1)}, // CTX1:  A0OUT2, A0OUT,  A5OUT,  B7OUT2
+        {OUTC(1, 0, 0), OUTC(1, 1, 1), OUTC(1, 6, 1), OUTC(0, 7, 0)}, // CTX2:  B0OUT,  B1OUT2, B6OUT2, A7OUT
+        {OUTC(1, 0, 1), OUTC(1, 0, 0), OUTC(0, 1, 0), OUTC(0, 6, 0)}, // CTX3:  B0OUT2, B0OUT,  A1OUT,  A6OUT
+        {OUTC(0, 1, 0), OUTC(0, 2, 1), OUTC(0, 5, 1), OUTC(1, 5, 0)}, // CTX4:  A1OUT,  A2OUT2, A5OUT2, B5OUT
+        {OUTC(0, 1, 1), OUTC(0, 1, 0), OUTC(1, 6, 0), OUTC(0, 7, 0)}, // CTX5:  A1OUT2, A1OUT,  B6OUT,  A7OUT
+        {OUTC(1, 1, 0), OUTC(0, 1, 0), OUTC(1, 5, 1), OUTC(1, 7, 0)}, // CTX6:  B1OUT,  A1OUT,  B5OUT2, B7OUT
+        {OUTC(1, 1, 1), OUTC(1, 1, 0), OUTC(1, 5, 0), OUTC(0, 7, 0)}, // CTX7:  B1OUT2, B1OUT,  B5OUT,  A7OUT
+        {OUTC(0, 2, 0), OUTC(0, 3, 1), OUTC(0, 4, 1), OUTC(1, 6, 0)}, // CTX8:  A2OUT,  A3OUT2, A4OUT2, B6OUT
+        {OUTC(0, 2, 1), OUTC(0, 2, 0), OUTC(0, 4, 0), OUTC(1, 0, 0)}, // CTX9:  A2OUT2, A2OUT,  A4OUT,  B0OUT
+        {OUTC(1, 2, 0), OUTC(1, 3, 1), OUTC(1, 4, 1), OUTC(0, 6, 0)}, // CTX10: B2OUT,  B3OUT2, B4OUT2, A6OUT
+        {OUTC(1, 2, 1), OUTC(1, 2, 0), OUTC(1, 4, 0), OUTC(1, 5, 1)}, // CTX11: B2OUT2, B2OUT,  B4OUT,  B5OUT2
+        {OUTC(0, 3, 0), OUTC(1, 1, 0), OUTC(1, 0, 1), OUTC(1, 6, 1)}, // CTX12: A3OUT,  B1OUT,  B0OUT2, B6OUT2
+        {OUTC(0, 3, 1), OUTC(0, 3, 0), OUTC(0, 6, 0), OUTC(1, 4, 1)}, // CTX13: A3OUT2, A3OUT,  A6OUT,  B4OUT2
+        {OUTC(1, 3, 0), OUTC(1, 1, 0), OUTC(1, 7, 1), OUTC(0, 7, 0)}, // CTX14: B3OUT,  B1OUT,  B7OUT2, A7OUT
+        {OUTC(1, 3, 1), OUTC(1, 3, 0), OUTC(0, 7, 0), OUTC(0, 4, 1)}, // CTX15: B3OUT2, B3OUT,  A7OUT,  A4OUT2
+        {OUTC(0, 4, 0), OUTC(0, 0, 0), OUTC(0, 0, 1), OUTC(1, 3, 1)}, // CTX16: A4OUT,  A0OUT,  A0OUT2, B3OUT2
+        {OUTC(0, 4, 1), OUTC(1, 7, 0), OUTC(0, 4, 0), OUTC(0, 1, 1)}, // CTX17: A4OUT2, B7OUT,  A4OUT,  A1OUT2
+        {OUTC(1, 4, 0), OUTC(1, 0, 0), OUTC(0, 0, 0), OUTC(0, 3, 1)}, // CTX18: B4OUT,  B0OUT,  A0OUT,  A3OUT2
+        {OUTC(1, 4, 1), OUTC(0, 2, 0), OUTC(1, 4, 0), OUTC(1, 1, 1)}, // CTX19: B4OUT2, A2OUT,  B4OUT,  B1OUT2
+        {OUTC(0, 5, 0), OUTC(0, 1, 0), OUTC(0, 1, 1), OUTC(1, 2, 1)}, // CTX20: A5OUT,  A1OUT,  A1OUT2, B2OUT2
+        {OUTC(0, 5, 1), OUTC(0, 1, 0), OUTC(1, 5, 0), OUTC(0, 0, 1)}, // CTX21: A5OUT2, A1OUT,  B5OUT,  A0OUT2
+        {OUTC(1, 5, 0), OUTC(0, 6, 0), OUTC(0, 1, 0), OUTC(0, 2, 1)}, // CTX22: B5OUT,  A6OUT,  A1OUT,  A2OUT2
+        {OUTC(1, 5, 1), OUTC(0, 7, 0), OUTC(0, 5, 0), OUTC(1, 0, 1)}, // CTX23: B5OUT2, A7OUT,  A5OUT,  B0OUT2
+        {OUTC(0, 6, 0), OUTC(0, 2, 0), OUTC(0, 1, 0), OUTC(1, 1, 1)}, // CTX24: A6OUT,  A2OUT,  A1OUT,  B1OUT2
+        {OUTC(1, 4, 1), OUTC(1, 2, 0), OUTC(0, 6, 0), OUTC(0, 2, 1)}, // CTX25: B4OUT2, B2OUT,  A6OUT,  A2OUT2
+        {OUTC(1, 6, 0), OUTC(1, 2, 0), OUTC(0, 5, 0), OUTC(0, 1, 1)}, // CTX26: B6OUT,  B2OUT,  A5OUT,  A1OUT2
+        {OUTC(1, 6, 1), OUTC(0, 1, 0), OUTC(1, 6, 0), OUTC(1, 2, 1)}, // CTX27: B6OUT2, A1OUT,  B6OUT,  B2OUT2
+        {OUTC(0, 7, 0), OUTC(0, 3, 0), OUTC(0, 5, 1), OUTC(1, 0, 1)}, // CTX28: A7OUT,  A3OUT,  A5OUT2, B0OUT2
+        {OUTC(1, 5, 1), OUTC(0, 1, 0), OUTC(0, 7, 0), OUTC(0, 3, 1)}, // CTX29: B5OUT2, A1OUT,  A7OUT,  A3OUT2
+        {OUTC(1, 7, 0), OUTC(1, 3, 0), OUTC(0, 4, 1), OUTC(0, 0, 1)}, // CTX30: B7OUT,  B3OUT,  A4OUT2, A0OUT2
+        {OUTC(1, 7, 1), OUTC(0, 6, 0), OUTC(1, 7, 0), OUTC(1, 3, 1)}, // CTX31: B7OUT2, A6OUT,  B7OUT,  B3OUT2
 };
 
-uint16_t _analogBits = 10; //10-bit by default
-uint8_t     _analogWriteBits = 8; // 8-bit by default for writes
-uint8_t     _servoWriteBits = 8; // 8-bit by default for writes
+uint16_t _analogBits = 10;    //10-bit by default
+uint8_t _analogWriteBits = 8; // 8-bit by default for writes
+uint8_t _servoWriteBits = 8;  // 8-bit by default for writes
 
 uint16_t analogRead(uint8_t pinNumber)
 {
@@ -325,92 +325,102 @@ ap3_err_t ap3_change_channel(uint8_t padNumber)
     }
 }
 
-
-
-
-
-
-
-
-
-
-ap3_err_t ap3_pwm_output( uint8_t pin, uint32_t th, uint32_t fw, uint32_t clk ){
+ap3_err_t ap3_pwm_output(uint8_t pin, uint32_t th, uint32_t fw, uint32_t clk)
+{
     // handle configuration, if necessary
     ap3_err_t retval = AP3_OK;
 
     ap3_gpio_pad_t pad = ap3_gpio_pin2pad(pin);
-    if(( pad == AP3_GPIO_PAD_UNUSED) || ( pad >= AP3_GPIO_MAX_PADS )){ return AP3_INVALID_ARG; }
+    if ((pad == AP3_GPIO_PAD_UNUSED) || (pad >= AP3_GPIO_MAX_PADS))
+    {
+        return AP3_INVALID_ARG;
+    }
 
     uint32_t timer = 0;
     uint32_t segment = AM_HAL_CTIMER_TIMERA;
     uint32_t output = AM_HAL_CTIMER_OUTPUT_NORMAL;
 
     uint8_t ctx = 0;
-    for(ctx = 0; ctx < 32; ctx++){
-        if( CTXPADNUM(ctx) == pad ){
+    for (ctx = 0; ctx < 32; ctx++)
+    {
+        if (CTXPADNUM(ctx) == pad)
+        {
             break;
         }
     }
-    if( ctx >= 32 ){
+    if (ctx >= 32)
+    {
         return AP3_ERR; // could not find pad in CTx table
     }
     // Now use CTx index to get configuration information
 
     // Now, for the given pad, determine the above values
-    if( (pad == 39) || (pad == 37) ){
+    if ((pad == 39) || (pad == 37))
+    {
         // pads 39 and 37 must be handled differently to avoid conflicting with other pins
-        if(pad == 39){
+        if (pad == 39)
+        {
             // 39
             timer = 6;
             segment = AM_HAL_CTIMER_TIMERA;
             output = AM_HAL_CTIMER_OUTPUT_SECONDARY;
-        }else{
+        }
+        else
+        {
             // 37
             timer = 7;
             segment = AM_HAL_CTIMER_TIMERA;
             output = AM_HAL_CTIMER_OUTPUT_NORMAL;
         }
-    }else{
-        const uint8_t n = 0;    // use the zeroeth index into the options for any pd except 37 and 39
+    }
+    else
+    {
+        const uint8_t n = 0; // use the zeroeth index into the options for any pd except 37 and 39
 
         timer = OUTCTIMN(ctx, 0);
-        if( OUTCTIMB(ctx, 0) ){
+        if (OUTCTIMB(ctx, 0))
+        {
             segment = AM_HAL_CTIMER_TIMERB;
         }
-        if( OUTCO2(ctx, 0) ){
+        if (OUTCO2(ctx, 0))
+        {
             output = AM_HAL_CTIMER_OUTPUT_SECONDARY;
         }
     }
 
     // Configure the pin
-    am_hal_ctimer_output_config(timer,                      
-                                segment,                     
-                                pad,                       
-                                output,            
-                                AM_HAL_GPIO_PIN_DRIVESTRENGTH_12MA);    //
+    am_hal_ctimer_output_config(timer,
+                                segment,
+                                pad,
+                                output,
+                                AM_HAL_GPIO_PIN_DRIVESTRENGTH_12MA); //
 
     // Configure the repeated pulse mode with our clock source
     am_hal_ctimer_config_single(timer,
-                                segment,    
+                                segment,
                                 // (AM_HAL_CTIMER_FN_PWM_REPEAT | AP3_ANALOG_CLK | AM_HAL_CTIMER_INT_ENABLE) );
-                                (AM_HAL_CTIMER_FN_PWM_REPEAT | clk) );
+                                (AM_HAL_CTIMER_FN_PWM_REPEAT | clk));
 
     // If this pad uses secondary output:
-    if( output == AM_HAL_CTIMER_OUTPUT_SECONDARY ){
+    if (output == AM_HAL_CTIMER_OUTPUT_SECONDARY)
+    {
         // Need to explicitly enable compare registers 2/3
-        uint32_t* pui32ConfigReg = NULL;
-        pui32ConfigReg = (uint32_t*)CTIMERADDRn(CTIMER, timer, AUX0);
+        uint32_t *pui32ConfigReg = NULL;
+        pui32ConfigReg = (uint32_t *)CTIMERADDRn(CTIMER, timer, AUX0);
         uint32_t ui32WriteVal = AM_REGVAL(pui32ConfigReg);
-        uint32_t ui32ConfigVal = (1 << CTIMER_AUX0_TMRA0EN23_Pos ); // using CTIMER_AUX0_TMRA0EN23_Pos because for now this number is common to all CTimer instances
-        if ( segment == AM_HAL_CTIMER_TIMERB ){
+        uint32_t ui32ConfigVal = (1 << CTIMER_AUX0_TMRA0EN23_Pos); // using CTIMER_AUX0_TMRA0EN23_Pos because for now this number is common to all CTimer instances
+        if (segment == AM_HAL_CTIMER_TIMERB)
+        {
             ui32ConfigVal = ((ui32ConfigVal & 0xFFFF) << 16);
         }
         ui32WriteVal = (ui32WriteVal & ~(segment)) | ui32ConfigVal;
         AM_REGVAL(pui32ConfigReg) = ui32WriteVal;
 
         // then set the duty cycle with the 'aux' function
-        am_hal_ctimer_aux_period_set( timer, segment, fw, th);
-    }else{
+        am_hal_ctimer_aux_period_set(timer, segment, fw, th);
+    }
+    else
+    {
         // Otherwise simply set the primary duty cycle
         am_hal_ctimer_period_set(timer, segment, fw, th);
     }
@@ -423,9 +433,10 @@ ap3_err_t ap3_pwm_output( uint8_t pin, uint32_t th, uint32_t fw, uint32_t clk ){
     return AP3_OK;
 }
 
-
-ap3_err_t analogWriteResolution( uint8_t res ){
-    if( res > 15 ){
+ap3_err_t analogWriteResolution(uint8_t res)
+{
+    if (res > 15)
+    {
         _analogWriteBits = 15; // max out the resolution when this happens
         return AP3_ERR;
     }
@@ -433,25 +444,30 @@ ap3_err_t analogWriteResolution( uint8_t res ){
     return AP3_OK;
 }
 
-ap3_err_t analogWrite( uint8_t pin, uint32_t val ){
+ap3_err_t analogWrite(uint8_t pin, uint32_t val)
+{
     // Determine the high time based on input value and the current resolution setting
-    uint32_t fsv = (0x01 << _analogWriteBits);    // full scale value for the current resolution setting
-    val = val % fsv;                                // prevent excess
-    uint32_t clk = AM_HAL_CTIMER_HFRC_12MHZ;        // Use an Ambiq HAL provided value to select which clock    
+    uint32_t fsv = (0x01 << _analogWriteBits); // full scale value for the current resolution setting
+    val = val % fsv;                           // prevent excess
+    uint32_t clk = AM_HAL_CTIMER_HFRC_12MHZ;   // Use an Ambiq HAL provided value to select which clock
     //uint32_t fw = 32768;                            // Choose the frame width in clock periods (32768 -> ~ 350 Hz)
     // uint32_t th = (uint32_t)( (fw * val) / fsv );
 
-    if(val == 0){
-        val = 1;         // todo: change this so that when val==0 we set the mode to "force output low"
+    if (val == 0)
+    {
+        val = 1; // todo: change this so that when val==0 we set the mode to "force output low"
     }
-    if( val == fsv ){
-        val -= 1;        // todo: change this so that when val==fsv we just set the mode to "force output high"
+    if (val == fsv)
+    {
+        val -= 1; // todo: change this so that when val==fsv we just set the mode to "force output high"
     }
-    return ap3_pwm_output( pin, val, fsv, clk );
+    return ap3_pwm_output(pin, val, fsv, clk);
 }
 
-ap3_err_t servoWriteResolution( uint8_t res ){
-    if( res > 15 ){
+ap3_err_t servoWriteResolution(uint8_t res)
+{
+    if (res > 15)
+    {
         _servoWriteBits = 15; // max out the resolution when this happens
         return AP3_ERR;
     }
@@ -459,22 +475,16 @@ ap3_err_t servoWriteResolution( uint8_t res ){
     return AP3_OK;
 }
 
-ap3_err_t servoWrite( uint8_t pin, uint32_t val ){
+ap3_err_t servoWrite(uint8_t pin, uint32_t val)
+{
     // Determine the high time based on input value and the current resolution setting
-    uint32_t fsv = (0x01 << _servoWriteBits);     // full scale value for the current resolution setting
-    val = val % fsv;                                // prevent excess
-    uint32_t clk = AM_HAL_CTIMER_HFRC_3MHZ;         // Using 3 MHz to get fine-grained control up to 20 ms wide  
-    uint32_t fw = 60000;                            // 20 ms wide frame
-    uint32_t max = 6000;                            // max width of RC pwm pulse is 2 ms or 6000 counts
-    uint32_t min = 3000;                            // min width of RC pwm pulse is 1 ms or 3000 counts
-    uint32_t th = (uint32_t)( ((max - min) * val) / fsv ) + min;
-
-    return ap3_pwm_output( pin, th, fw, clk );
+    uint32_t fsv = (0x01 << _servoWriteBits); // full scale value for the current resolution setting
+    val = val % fsv;                          // prevent excess
+    uint32_t clk = AM_HAL_CTIMER_HFRC_3MHZ;   // Using 3 MHz to get fine-grained control up to 20 ms wide
+    uint32_t fw = 60000;                      // 20 ms wide frame
+    uint32_t max = 6000;                      // max width of RC pwm pulse is 2 ms or 6000 counts
+    uint32_t min = 3000;                      // min width of RC pwm pulse is 1 ms or 3000 counts
+    uint32_t th = (uint32_t)(((max - min) * val) / fsv) + min;
+
+    return ap3_pwm_output(pin, th, fw, clk);
 }
-
-
-
-
-
-
-

From 23f1a51118be093074c4ed0316c631dd2a9f53c5 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 1 Jul 2019 19:51:00 -0600
Subject: [PATCH 03/10] Small error checking improvement to
 analogReadResolution()

---
 cores/arduino/ard_sup/analog/ap3_analog.cpp | 10 ++++++++--
 cores/arduino/ard_sup/ap3_analog.h          | 11 +++++------
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/cores/arduino/ard_sup/analog/ap3_analog.cpp b/cores/arduino/ard_sup/analog/ap3_analog.cpp
index 71131d34..98d23564 100644
--- a/cores/arduino/ard_sup/analog/ap3_analog.cpp
+++ b/cores/arduino/ard_sup/analog/ap3_analog.cpp
@@ -204,9 +204,15 @@ uint16_t analogRead(uint8_t pinNumber)
 
 //Apollo3 is capapble of 14-bit ADC but Arduino defaults to 10-bit
 //This modifies the global var that controls what is returned from analogRead()
-void analogReadResolution(uint8_t bits)
+ap3_err_t analogReadResolution(uint8_t bits)
 {
-    _analogBits = bits;
+    if (bits > 16)
+    {
+        _analogBits = 16; // max out the resolution when this happens
+        return AP3_ERR;
+    }
+    _analogBits = res;
+    return AP3_OK;
 }
 
 ap3_err_t ap3_adc_setup()
diff --git a/cores/arduino/ard_sup/ap3_analog.h b/cores/arduino/ard_sup/ap3_analog.h
index ed57a6d2..e41af024 100644
--- a/cores/arduino/ard_sup/ap3_analog.h
+++ b/cores/arduino/ard_sup/ap3_analog.h
@@ -42,12 +42,11 @@ ap3_err_t ap3_analog_pad_funcsel(ap3_gpio_pad_t padNumber, uint8_t *funcsel);
 ap3_err_t ap3_change_channel(ap3_gpio_pad_t padNumber);
 
 uint16_t analogRead(uint8_t pinNumber);
-void analogReadResolution(uint8_t bits);
-
-ap3_err_t analogWriteResolution( uint8_t res );
-ap3_err_t analogWrite( uint8_t pin, uint32_t val );
-ap3_err_t servoWriteResolution( uint8_t res );
-ap3_err_t servoWrite( uint8_t pin, uint32_t val );
+ap3_err_t analogReadResolution(uint8_t bits);
 
+ap3_err_t analogWriteResolution(uint8_t res);
+ap3_err_t analogWrite(uint8_t pin, uint32_t val);
+ap3_err_t servoWriteResolution(uint8_t res);
+ap3_err_t servoWrite(uint8_t pin, uint32_t val);
 
 #endif // _AP3_ANALOG_H_
\ No newline at end of file

From a335fd60fe7e019e04b640c9f679af6abf592e51 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 1 Jul 2019 21:09:22 -0600
Subject: [PATCH 04/10] Fix some datasheet errors

---
 cores/arduino/ard_sup/analog/ap3_analog.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/cores/arduino/ard_sup/analog/ap3_analog.cpp b/cores/arduino/ard_sup/analog/ap3_analog.cpp
index 98d23564..3a4bdbd1 100644
--- a/cores/arduino/ard_sup/analog/ap3_analog.cpp
+++ b/cores/arduino/ard_sup/analog/ap3_analog.cpp
@@ -107,13 +107,14 @@ static const uint8_t outcfg_tbl[32][4] =
         {OUTC(1, 4, 1), OUTC(0, 2, 0), OUTC(1, 4, 0), OUTC(1, 1, 1)}, // CTX19: B4OUT2, A2OUT,  B4OUT,  B1OUT2
         {OUTC(0, 5, 0), OUTC(0, 1, 0), OUTC(0, 1, 1), OUTC(1, 2, 1)}, // CTX20: A5OUT,  A1OUT,  A1OUT2, B2OUT2
         {OUTC(0, 5, 1), OUTC(0, 1, 0), OUTC(1, 5, 0), OUTC(0, 0, 1)}, // CTX21: A5OUT2, A1OUT,  B5OUT,  A0OUT2
-        {OUTC(1, 5, 0), OUTC(0, 6, 0), OUTC(0, 1, 0), OUTC(0, 2, 1)}, // CTX22: B5OUT,  A6OUT,  A1OUT,  A2OUT2
+        //{OUTC(1, 5, 0), OUTC(0, 6, 0), OUTC(0, 1, 0), OUTC(0, 2, 1)}, // CTX22: B5OUT,  (error B1OUT) A6OUT,  (error remove)A1OUT,  A2OUT2
+        {OUTC(1, 5, 0), OUTC(1, 1, 0), OUTC(0, 6, 0), OUTC(0, 2, 1)}, // CTX22: B5OUT,  B1OUT,  A6OUT,  A2OUT2
         {OUTC(1, 5, 1), OUTC(0, 7, 0), OUTC(0, 5, 0), OUTC(1, 0, 1)}, // CTX23: B5OUT2, A7OUT,  A5OUT,  B0OUT2
         {OUTC(0, 6, 0), OUTC(0, 2, 0), OUTC(0, 1, 0), OUTC(1, 1, 1)}, // CTX24: A6OUT,  A2OUT,  A1OUT,  B1OUT2
         {OUTC(1, 4, 1), OUTC(1, 2, 0), OUTC(0, 6, 0), OUTC(0, 2, 1)}, // CTX25: B4OUT2, B2OUT,  A6OUT,  A2OUT2
         {OUTC(1, 6, 0), OUTC(1, 2, 0), OUTC(0, 5, 0), OUTC(0, 1, 1)}, // CTX26: B6OUT,  B2OUT,  A5OUT,  A1OUT2
         {OUTC(1, 6, 1), OUTC(0, 1, 0), OUTC(1, 6, 0), OUTC(1, 2, 1)}, // CTX27: B6OUT2, A1OUT,  B6OUT,  B2OUT2
-        {OUTC(0, 7, 0), OUTC(0, 3, 0), OUTC(0, 5, 1), OUTC(1, 0, 1)}, // CTX28: A7OUT,  A3OUT,  A5OUT2, B0OUT2
+        {OUTC(0, 7, 1), OUTC(0, 3, 0), OUTC(0, 5, 1), OUTC(1, 0, 1)}, // CTX28: A7OUT(error B?),  A3OUT,  A5OUT2, B0OUT2
         {OUTC(1, 5, 1), OUTC(0, 1, 0), OUTC(0, 7, 0), OUTC(0, 3, 1)}, // CTX29: B5OUT2, A1OUT,  A7OUT,  A3OUT2
         {OUTC(1, 7, 0), OUTC(1, 3, 0), OUTC(0, 4, 1), OUTC(0, 0, 1)}, // CTX30: B7OUT,  B3OUT,  A4OUT2, A0OUT2
         {OUTC(1, 7, 1), OUTC(0, 6, 0), OUTC(1, 7, 0), OUTC(1, 3, 1)}, // CTX31: B7OUT2, A6OUT,  B7OUT,  B3OUT2

From 4519b26fd423ed332f388ba363ed74ef47be33df Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 3 Jul 2019 21:17:36 -0600
Subject: [PATCH 05/10] Getting to compile after rebase

---
 cores/arduino/ard_sup/analog/ap3_analog.cpp | 2 +-
 libraries/Servo/src/Servo.cpp               | 9 ++++-----
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/cores/arduino/ard_sup/analog/ap3_analog.cpp b/cores/arduino/ard_sup/analog/ap3_analog.cpp
index f470a0af..cab891db 100644
--- a/cores/arduino/ard_sup/analog/ap3_analog.cpp
+++ b/cores/arduino/ard_sup/analog/ap3_analog.cpp
@@ -239,7 +239,7 @@ ap3_err_t analogReadResolution(uint8_t bits)
         _analogBits = 16; // max out the resolution when this happens
         return AP3_ERR;
     }
-    _analogBits = res;
+    _analogBits = bits;
     return AP3_OK;
 }
 
diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
index 56e0ae94..461fd109 100644
--- a/libraries/Servo/src/Servo.cpp
+++ b/libraries/Servo/src/Servo.cpp
@@ -48,11 +48,10 @@ void Servo::write(uint8_t servoPosition)
 	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
 }
 
-void Servo::writeMicroseconds(uint8_t servoPosition)
-{
-
-	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
-}
+// void Servo::writeMicroseconds(uint8_t servoPosition)
+// {
+// 	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+// }
 
 void Servo::detach(void)
 {

From 75d12a8952f605f6c340f26c32eda7e5ce8f85bf Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 18 Aug 2019 21:09:09 -0600
Subject: [PATCH 06/10] Add extended servoWrite that accepts min/max values in
 micros. Add getServoResolution().

Arduino allows for opening of the min/max RC PWM pulse. The previous 1ms/2ms min/max limited generic servos to only 90 degrees of movement. The Arduino defaults of 544/2400 open this to 180 degrees.
---
 cores/arduino/ard_sup/analog/ap3_analog.cpp | 17 +++++++++++++++--
 cores/arduino/ard_sup/ap3_analog.h          |  2 ++
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/cores/arduino/ard_sup/analog/ap3_analog.cpp b/cores/arduino/ard_sup/analog/ap3_analog.cpp
index a3ace4be..a940677c 100644
--- a/cores/arduino/ard_sup/analog/ap3_analog.cpp
+++ b/cores/arduino/ard_sup/analog/ap3_analog.cpp
@@ -658,15 +658,28 @@ ap3_err_t servoWriteResolution(uint8_t res)
     return AP3_OK;
 }
 
+uint8_t getServoResolution()
+{
+    return(_servoWriteBits);
+}
+
 ap3_err_t servoWrite(uint8_t pin, uint32_t val)
+{
+    return(servoWrite(pin, val, 544, 2400)); //Call servoWrite with Arduino default min/max microseconds. See: https://www.arduino.cc/en/Reference/ServoAttach
+}
+
+ap3_err_t servoWrite(uint8_t pin, uint32_t val, uint16_t minMicros, uint16_t maxMicros)
 {
     // Determine the high time based on input value and the current resolution setting
     uint32_t fsv = (0x01 << _servoWriteBits); // full scale value for the current resolution setting
     val = val % fsv;                          // prevent excess
     uint32_t clk = AM_HAL_CTIMER_HFRC_3MHZ;   // Using 3 MHz to get fine-grained control up to 20 ms wide
     uint32_t fw = 60000;                      // 20 ms wide frame
-    uint32_t max = 6000;                      // max width of RC pwm pulse is 2 ms or 6000 counts
-    uint32_t min = 3000;                      // min width of RC pwm pulse is 1 ms or 3000 counts
+
+    //Convert microSeconds to PWM counts.
+    uint32_t min = minMicros * 3; 
+    uint32_t max = maxMicros * 3;
+    
     uint32_t th = (uint32_t)(((max - min) * val) / fsv) + min;
 
     return ap3_pwm_output(pin, th, fw, clk);
diff --git a/cores/arduino/ard_sup/ap3_analog.h b/cores/arduino/ard_sup/ap3_analog.h
index d0feb278..68d40b05 100644
--- a/cores/arduino/ard_sup/ap3_analog.h
+++ b/cores/arduino/ard_sup/ap3_analog.h
@@ -49,7 +49,9 @@ ap3_err_t ap3_pwm_output(uint8_t pin, uint32_t th, uint32_t fw, uint32_t clk);
 ap3_err_t analogWriteResolution(uint8_t res);
 ap3_err_t analogWrite(uint8_t pin, uint32_t val);
 ap3_err_t servoWriteResolution(uint8_t res);
+uint8_t getServoResolution();
 ap3_err_t servoWrite(uint8_t pin, uint32_t val);
+ap3_err_t servoWrite(uint8_t pin, uint32_t val, uint16_t minMicros, uint16_t maxMicros);
 
 ap3_err_t tone(uint8_t pin, uint32_t freq);
 ap3_err_t tone(uint8_t pin, uint32_t freq, uint32_t duration);

From e8e1d3736b563e106d8f48fb4f76b27354c17134 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 18 Aug 2019 21:09:36 -0600
Subject: [PATCH 07/10] Remove pad tracking. Increase map to include 180.

---
 libraries/Servo/src/Servo.cpp | 10 +++++-----
 libraries/Servo/src/Servo.h   |  3 +--
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
index 461fd109..84c13390 100644
--- a/libraries/Servo/src/Servo.cpp
+++ b/libraries/Servo/src/Servo.cpp
@@ -34,7 +34,7 @@ Servo::Servo()
 void Servo::attach(uint8_t pinNumber)
 {
 	_servoPinNumber = pinNumber;
-	_servoPadNumber = ap3_gpio_pin2pad(pinNumber);
+	pinMode(_servoPinNumber, OUTPUT);
 }
 
 void Servo::write(uint8_t servoPosition)
@@ -43,9 +43,9 @@ void Servo::write(uint8_t servoPosition)
 	if (_servoPosition > 180)
 		_servoPosition = 180; //Bounds check
 
-	uint16_t newServoPosition = map(servoPosition, 0, 180, 0, 1023);
+	uint16_t newServoPosition = map(servoPosition, 0, 181, 0, ((uint16_t)0x01 << getServoResolution()));
 
-	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+	servoWrite(_servoPinNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
 }
 
 // void Servo::writeMicroseconds(uint8_t servoPosition)
@@ -55,9 +55,9 @@ void Servo::write(uint8_t servoPosition)
 
 void Servo::detach(void)
 {
-	_servoPinNumber = NULL;
-	_servoPadNumber = NULL;
 	pinMode(_servoPinNumber, INPUT); //Will stop PWM output
+
+	_servoPinNumber = 0;
 }
 
 uint8_t Servo::read(void)
diff --git a/libraries/Servo/src/Servo.h b/libraries/Servo/src/Servo.h
index b3a0ce9b..a65576cc 100644
--- a/libraries/Servo/src/Servo.h
+++ b/libraries/Servo/src/Servo.h
@@ -38,8 +38,7 @@ class Servo
   bool attached(uint8_t pinNumber);
 
 private:
-  uint8_t _servoPadNumber = NULL;
-  uint8_t _servoPinNumber = NULL;
+  uint8_t _servoPinNumber = 0;
   uint8_t _servoPosition;
 };
 

From 46c9198133add0772d77ce9422fd50517f408cf1 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 18 Aug 2019 21:54:50 -0600
Subject: [PATCH 08/10] Add min/max micros to attach. Add writeMicroseconds().

---
 libraries/Servo/src/Servo.cpp | 23 ++++++++++++++++-------
 libraries/Servo/src/Servo.h   |  4 ++++
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
index 84c13390..5c9413ea 100644
--- a/libraries/Servo/src/Servo.cpp
+++ b/libraries/Servo/src/Servo.cpp
@@ -28,15 +28,22 @@ SOFTWARE.
 //Constructor
 Servo::Servo()
 {
+
 }
 
-//Assign global var
-void Servo::attach(uint8_t pinNumber)
+void Servo::attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros)
 {
 	_servoPinNumber = pinNumber;
+	_minMicros = minMicros;
+	_maxMicros = maxMicros;
 	pinMode(_servoPinNumber, OUTPUT);
 }
 
+void Servo::attach(uint8_t pinNumber)
+{
+	attach(pinNumber, 544, 2400); //Start with Arduino defaults
+}
+
 void Servo::write(uint8_t servoPosition)
 {
 	_servoPosition = servoPosition;
@@ -45,13 +52,15 @@ void Servo::write(uint8_t servoPosition)
 
 	uint16_t newServoPosition = map(servoPosition, 0, 181, 0, ((uint16_t)0x01 << getServoResolution()));
 
-	servoWrite(_servoPinNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
 }
 
-// void Servo::writeMicroseconds(uint8_t servoPosition)
-// {
-// 	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
-// }
+void Servo::writeMicroseconds(uint16_t microSecs)
+{
+	//Convert microseconds to PWM value
+	uint16_t newServoPosition = microSecs;
+	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
+}
 
 void Servo::detach(void)
 {
diff --git a/libraries/Servo/src/Servo.h b/libraries/Servo/src/Servo.h
index a65576cc..c9a5f3ee 100644
--- a/libraries/Servo/src/Servo.h
+++ b/libraries/Servo/src/Servo.h
@@ -31,8 +31,10 @@ class Servo
 {
 public:
   Servo();
+  void attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros);
   void attach(uint8_t pinNumber);
   void write(uint8_t servoPosition);
+  void writeMicroseconds(uint16_t microSecs);
   void detach(void);
   uint8_t read(void);
   bool attached(uint8_t pinNumber);
@@ -40,6 +42,8 @@ class Servo
 private:
   uint8_t _servoPinNumber = 0;
   uint8_t _servoPosition;
+  uint16_t _minMicros;
+  uint16_t _maxMicros;
 };
 
 #endif // _AP3_SERVO_H_

From fa169b100bb1abbf5173c4543792711a72cdef46 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan.seidle@sparkfun.local>
Date: Mon, 19 Aug 2019 15:26:42 -0600
Subject: [PATCH 09/10] Add writeMicroseconds() and a few keywords.

---
 cores/arduino/ard_sup/ap3_gpio.h |  2 +-
 libraries/Servo/keywords.txt     |  2 ++
 libraries/Servo/src/Servo.cpp    | 16 +++++++++++-----
 3 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/cores/arduino/ard_sup/ap3_gpio.h b/cores/arduino/ard_sup/ap3_gpio.h
index 2b2df02f..03657b43 100644
--- a/cores/arduino/ard_sup/ap3_gpio.h
+++ b/cores/arduino/ard_sup/ap3_gpio.h
@@ -45,7 +45,7 @@ extern const am_hal_gpio_pincfg_t g_AM_HAL_GPIO_INPUT_PULLDOWN;
 #define AP3_GPIO_IS_VALID(pad) ((pad >= 0) && (pad < AP3_GPIO_MAX_PADS))
 
 extern ap3_gpio_pad_t ap3_gpio_pin2pad(ap3_gpio_pin_t pin);
-#define AP3_GPIO_PAD_UNUSED (-1)
+#define AP3_GPIO_PAD_UNUSED (255)
 
 #define AP3_GPIO_DEFAULT_PINCFG AP3_GPIO_PINCFG_NULL
 
diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt
index 39478d63..b8c1b5c9 100644
--- a/libraries/Servo/keywords.txt
+++ b/libraries/Servo/keywords.txt
@@ -17,6 +17,8 @@ read	KEYWORD2
 
 writeMicroseconds	KEYWORD2
 attached	KEYWORD2
+servoWriteResolution	KEYWORD2
+getServoResolution	KEYWORD2
 
 #######################################
 # Instances (KEYWORD2)
diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
index 5c9413ea..73264225 100644
--- a/libraries/Servo/src/Servo.cpp
+++ b/libraries/Servo/src/Servo.cpp
@@ -28,7 +28,6 @@ SOFTWARE.
 //Constructor
 Servo::Servo()
 {
-
 }
 
 void Servo::attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros)
@@ -51,15 +50,22 @@ void Servo::write(uint8_t servoPosition)
 		_servoPosition = 180; //Bounds check
 
 	uint16_t newServoPosition = map(servoPosition, 0, 181, 0, ((uint16_t)0x01 << getServoResolution()));
-
 	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
 }
 
 void Servo::writeMicroseconds(uint16_t microSecs)
 {
-	//Convert microseconds to PWM value
-	uint16_t newServoPosition = microSecs;
-	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
+	uint16_t extendedMin = _minMicros;
+	uint16_t extendedMax = _maxMicros;
+
+	if (microSecs > _maxMicros)
+		extendedMax = microSecs;
+	if (microSecs < _minMicros)
+		extendedMin = microSecs;
+
+	//Map microseconds to PWM value
+	uint16_t newServoPosition = map(microSecs, extendedMin, extendedMax + 1, 0, ((uint16_t)0x01 << getServoResolution()));
+	servoWrite(_servoPinNumber, newServoPosition, extendedMin, extendedMax);
 }
 
 void Servo::detach(void)

From dd2eee4499987676f96f116db7b749b97ff4e044 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan.seidle@sparkfun.local>
Date: Mon, 19 Aug 2019 15:48:32 -0600
Subject: [PATCH 10/10] Addin examples

---
 .../Example1_BasicServo.ino                   |  48 +++++++
 .../Example2_TwoServos/Example2_TwoServos.ino |  51 +++++++
 .../Example3_SetEndpoints.ino                 |  41 ++++++
 .../Example4_SetResolution.ino                |  52 +++++++
 .../Example5_writeMicroseconds.ino            |  39 +++++
 .../Example6_19servos/Example6_19servos.ino   | 101 +++++++++++++
 .../Example7_29servos/Example7_29servos.ino   | 136 ++++++++++++++++++
 7 files changed, 468 insertions(+)
 create mode 100644 libraries/Servo/examples/Example1_BasicServo/Example1_BasicServo.ino
 create mode 100644 libraries/Servo/examples/Example2_TwoServos/Example2_TwoServos.ino
 create mode 100644 libraries/Servo/examples/Example3_SetEndpoints/Example3_SetEndpoints.ino
 create mode 100644 libraries/Servo/examples/Example4_SetResolution/Example4_SetResolution.ino
 create mode 100644 libraries/Servo/examples/Example5_writeMicroseconds/Example5_writeMicroseconds.ino
 create mode 100644 libraries/Servo/examples/Example6_19servos/Example6_19servos.ino
 create mode 100644 libraries/Servo/examples/Example7_29servos/Example7_29servos.ino

diff --git a/libraries/Servo/examples/Example1_BasicServo/Example1_BasicServo.ino b/libraries/Servo/examples/Example1_BasicServo/Example1_BasicServo.ino
new file mode 100644
index 00000000..7c0267a0
--- /dev/null
+++ b/libraries/Servo/examples/Example1_BasicServo/Example1_BasicServo.ino
@@ -0,0 +1,48 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates the control of a servo on pin 8 on the RedBoard Artemis. Any PWM
+  pin can control a servo.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServo;
+
+int pos = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServo.attach(8);
+}
+
+void loop()
+{
+  //Sweep
+  for (pos = 0; pos <= 180; pos++) { // goes from 0 degrees to 180 degrees
+    myServo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(5);                       // waits 15ms for the servo to reach the position
+  }
+  for (pos = 180; pos >= 0; pos--) { // goes from 180 degrees to 0 degrees
+    myServo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(5);                       // waits 15ms for the servo to reach the position
+  }
+}
diff --git a/libraries/Servo/examples/Example2_TwoServos/Example2_TwoServos.ino b/libraries/Servo/examples/Example2_TwoServos/Example2_TwoServos.ino
new file mode 100644
index 00000000..5af61d51
--- /dev/null
+++ b/libraries/Servo/examples/Example2_TwoServos/Example2_TwoServos.ino
@@ -0,0 +1,51 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates controlling two servos.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+Servo myServoB;
+
+int pos = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8);
+  myServoB.attach(7);
+}
+
+void loop()
+{
+  //Sweep
+  for (pos = 0; pos <= 180; pos++) {
+    myServoA.write(pos);
+    myServoB.write(180 - pos);
+    delay(5);
+  }
+  for (pos = 180; pos >= 0; pos--) {
+    myServoA.write(pos);
+    myServoB.write(180 - pos);
+    delay(5);
+  }
+}
diff --git a/libraries/Servo/examples/Example3_SetEndpoints/Example3_SetEndpoints.ino b/libraries/Servo/examples/Example3_SetEndpoints/Example3_SetEndpoints.ino
new file mode 100644
index 00000000..5ceb49cc
--- /dev/null
+++ b/libraries/Servo/examples/Example3_SetEndpoints/Example3_SetEndpoints.ino
@@ -0,0 +1,41 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  Different servos have different end points. Arduino defaults to 544us (min) and 2400us (max).
+  These however can be changed at startup. For more info see: https://www.arduino.cc/en/Reference/ServoAttach
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth.
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8, 500, 2600); //Increase min/max to drive servo fully
+}
+
+void loop()
+{
+  myServoA.write(180); //Go to max position
+  delay(2000);
+  myServoA.write(0); //Go to min position
+  delay(2000);
+}
diff --git a/libraries/Servo/examples/Example4_SetResolution/Example4_SetResolution.ino b/libraries/Servo/examples/Example4_SetResolution/Example4_SetResolution.ino
new file mode 100644
index 00000000..dd2c867a
--- /dev/null
+++ b/libraries/Servo/examples/Example4_SetResolution/Example4_SetResolution.ino
@@ -0,0 +1,52 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  Arduino defaults to 8-pin PWM resolution. This works for the majority of servos but can
+  be increased for projects that need it.
+
+  servoWriteResolution()
+  getServoResolution()
+
+  Are provided for changing and reading the resolution setting.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth.
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8);
+
+  servoWriteResolution(10); //Increase to 10-bit resolution. 16-bit is max.
+
+  int currentRes = getServoResolution();
+  Serial.print("Current resolution: ");
+  Serial.println(currentRes);
+}
+
+void loop()
+{
+  myServoA.write(180); //Go to max position
+  delay(2000);
+  myServoA.write(0); //Go to min position
+  delay(2000);
+}
diff --git a/libraries/Servo/examples/Example5_writeMicroseconds/Example5_writeMicroseconds.ino b/libraries/Servo/examples/Example5_writeMicroseconds/Example5_writeMicroseconds.ino
new file mode 100644
index 00000000..52597ffc
--- /dev/null
+++ b/libraries/Servo/examples/Example5_writeMicroseconds/Example5_writeMicroseconds.ino
@@ -0,0 +1,39 @@
+/*   
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example shows how to write to the servo in microseconds instead of position. This
+  is helpful for find the min/max us settings for a given servo manufacturer.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to RX1:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> RX1
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServo;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServo.attach(8);
+
+  myServo.writeMicroseconds(600); //Servo will go to very near the 0 degree position
+}
+
+void loop()
+{
+}
diff --git a/libraries/Servo/examples/Example6_19servos/Example6_19servos.ino b/libraries/Servo/examples/Example6_19servos/Example6_19servos.ino
new file mode 100644
index 00000000..057aabe9
--- /dev/null
+++ b/libraries/Servo/examples/Example6_19servos/Example6_19servos.ino
@@ -0,0 +1,101 @@
+/*   
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates the control of 19 servos simulataneously on the BlackBoard Artemis.
+  Any PWM pin is capable of 16 bit servo control. Need more than 19 servos? What are you building?!
+  Check out the BlackBoard ATP for 29 servo capable PWM pins.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to RX1:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> RX1
+
+  The servo will rotate back and forth. Similary, you can move the signal wire to any PWM
+  pin and you will see the servo move to a new position and hold. This shows that the other
+  PWM pins are all simultaneously and actively outputting a servo signal.
+*/
+
+#include <Servo.h>
+
+Servo myServoRX;
+Servo myServoTX;
+Servo myServo2;
+Servo myServo3;
+Servo myServo4;
+Servo myServo5;
+Servo myServo6;
+Servo myServo7;
+Servo myServo8;
+Servo myServo9;
+Servo myServo10;
+Servo myServoMOSI;
+Servo myServoMISO;
+Servo myServoSCK;
+Servo myServoA0;
+Servo myServoA1;
+Servo myServoA3;
+Servo myServoA5;
+Servo myServoSCL;
+
+int pos = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoRX.attach(0); //Labeled RX1
+  myServoTX.attach(1); //Labeled TX1
+  myServo2.attach(2);
+  myServo3.attach(3);
+  myServo4.attach(4);
+  myServo5.attach(5);
+  myServo6.attach(6);
+  myServo7.attach(7);
+  myServo8.attach(8);
+  myServo9.attach(9);
+  myServo10.attach(10);
+  myServoMOSI.attach(11); //Labeled MOSI
+  myServoMISO.attach(12); //Labeled MISO
+  myServoSCK.attach(13); //Labeled SCK
+  myServoA0.attach(A0);
+  myServoA1.attach(A1);
+  myServoA3.attach(A3);
+  myServoA5.attach(A5);
+  myServoSCL.attach(SCL);
+
+  myServo2.write(0);
+  myServo3.write(10);
+  myServo4.write(30);
+  myServo5.write(60);
+  myServo6.write(90);
+  myServo7.write(120);
+  myServo8.write(140);
+  myServo9.write(160);
+  myServo10.write(180);
+  myServoMOSI.write(0);
+  myServoMISO.write(30);
+  myServoSCK.write(60);
+  myServoA0.write(90);
+  myServoA1.write(120);
+  myServoA3.write(150);
+  myServoA5.write(0);
+  myServoSCL.write(30);
+  myServoTX.write(60);
+}
+
+void loop()
+{
+  myServoRX.write(0);
+  delay(1500);
+  myServoRX.write(180);
+  delay(1500);
+}
diff --git a/libraries/Servo/examples/Example7_29servos/Example7_29servos.ino b/libraries/Servo/examples/Example7_29servos/Example7_29servos.ino
new file mode 100644
index 00000000..71976f6f
--- /dev/null
+++ b/libraries/Servo/examples/Example7_29servos/Example7_29servos.ino
@@ -0,0 +1,136 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates the control of 29 servos simulataneously on the BlackBoard Artemis ATP.
+  Any PWM pin is capable of 16 bit servo control. Need more than 29 servos? What are you building?!
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 18
+
+  The servo will rotate back and forth. Similary, you can move the signal wire to any PWM
+  pin and you will see the servo move to a new position and hold. This shows that the other
+  PWM pins are all simultaneously and actively outputting a servo signal.
+
+  There are 30 PWM capable pads on the Artemis. Pin 47 is used for bootloading and is not
+  easily accessible. There are 29 easily accessible on the ATP.
+*/
+
+#include <Servo.h>
+
+Servo myServoSCL;
+Servo myServoSCK;
+Servo myServoMISO;
+Servo myServoMOSI;
+Servo myServo13;
+Servo myServo12;
+Servo myServo32;
+Servo myServo28;
+Servo myServo27;
+Servo myServo23;
+
+Servo myServo22;
+Servo myServo4;
+Servo myServo35;
+Servo myServoTX1;
+Servo myServoRX1;
+Servo myServo26;
+Servo myServo19;
+Servo myServo18;
+Servo myServo37;
+Servo myServo44;
+
+Servo myServo42;
+Servo myServo43;
+Servo myServo45;
+Servo myServo31;
+Servo myServo33;
+Servo myServo11;
+Servo myServo29;
+Servo myServo48;
+Servo myServo49;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoSCL.attach(SCL);
+  myServoSCK.attach(5); //Labeled SCK
+  myServoMISO.attach(6); //Labeled MISO
+  myServoMOSI.attach(7); //Labeled MOSI
+  myServo13.attach(13);
+  myServo12.attach(12);
+  myServo32.attach(32);
+  myServo28.attach(28);
+  myServo27.attach(27);
+  myServo23.attach(23);
+  myServo22.attach(22);
+  myServo4.attach(4);
+  myServo35.attach(35);
+  myServoTX1.attach(24); //Labeled TX1
+  myServoRX1.attach(25); //Labeled RX1
+  myServo26.attach(26);
+  myServo19.attach(19);
+  myServo18.attach(18);
+  myServo37.attach(37);
+  myServo44.attach(44);
+  myServo42.attach(42);
+  myServo43.attach(43);
+  myServo45.attach(45);
+  myServo31.attach(31);
+  myServo33.attach(33);
+  myServo11.attach(11);
+  myServo29.attach(29);
+  myServo48.attach(48); //Labeled TX0 (used for bootloading)
+  myServo49.attach(49); //Labeled RX0 (used for bootloading)
+
+  int startAmount = 600;
+
+  myServoSCL.writeMicroseconds(startAmount + 0); //600
+  myServoSCK.writeMicroseconds(startAmount + 50); //650
+  myServoMISO.writeMicroseconds(startAmount + 100); //700
+  myServoMOSI.writeMicroseconds(startAmount + 150); //750
+  myServo13.writeMicroseconds(startAmount + 200); //800
+  myServo12.writeMicroseconds(startAmount + 250); //850
+  myServo32.writeMicroseconds(startAmount + 300); //900
+  myServo28.writeMicroseconds(startAmount + 350); //950
+  myServo27.writeMicroseconds(startAmount + 400); //1000
+  myServo23.writeMicroseconds(startAmount + 450); //1050
+  myServo22.writeMicroseconds(startAmount + 500); //1100
+  myServo4.writeMicroseconds(startAmount + 550); //1150
+  myServo35.writeMicroseconds(startAmount + 600); //1200
+  myServoTX1.writeMicroseconds(startAmount + 650); //1250
+  myServoRX1.writeMicroseconds(startAmount + 700); //1300
+  myServo26.writeMicroseconds(startAmount + 750); //1350
+  myServo19.writeMicroseconds(startAmount + 800); //1400
+  myServo18.writeMicroseconds(startAmount + 850); //1450
+  myServo37.writeMicroseconds(startAmount + 900); //1500
+  myServo44.writeMicroseconds(startAmount + 950); //1550
+  myServo42.writeMicroseconds(startAmount + 1000); //1600
+  myServo43.writeMicroseconds(startAmount + 1050); //1650
+  myServo45.writeMicroseconds(startAmount + 1100); //1700
+  myServo31.writeMicroseconds(startAmount + 1150); //1750
+  myServo33.writeMicroseconds(startAmount + 1200); //1800
+  myServo11.writeMicroseconds(startAmount + 1250); //1850
+  myServo29.writeMicroseconds(startAmount + 1300); //1900
+  myServo48.writeMicroseconds(startAmount + 1350); //1950
+  myServo49.writeMicroseconds(startAmount + 1400); //2000
+}
+
+void loop()
+{
+  myServo18.write(0);
+  delay(1500);
+  myServo18.write(180);
+  delay(1500);
+}