from machine import Pin, PWM

class Servo:
    def __init__(self, pin):
        self.pwm = PWM(Pin(pin))
        self.pwm.freq(50)
        self.min_duty = 1638  # ~0.5 ms
        self.max_duty = 8192  # ~2.5 ms

    def angle(self, deg):
        deg = max(0, min(180, deg))
        duty = int(self.min_duty + (deg / 180) * (self.max_duty - self.min_duty))
        self.pwm.duty_u16(duty)

    def off(self):
        self.pwm.duty_u16(0)