Servo_nocomments.ino

#include <avr/io.h>
#include <InputNumbFromTerminal.h>

TERMNUMB inFromTerm;

void setup(){
  Serial.begin(9600);
  
//Setting Up WGM, COM amd prescaler bits per above comments
  TCCR1A = 0b10000000;
  TCCR1B = 0b00010010;
  
  ICR1 = 15000;  // 20ms. Cycle Time
  OCR1A = 1125;  // 1.5 ms. Initial Pulse Width to center servo
  
  DDRB |= (1 << PB1);  // Output on PB1
}

void loop(){
  float angle;
  int pwm_count;
  
  float msec;
  
  Serial.print("Input angle in degrees -90.0 to 90.0: ");
  angle = inFromTerm.termNumb();
  Serial.println("");
  if (angle >= -90.0 && angle <= 90.0){
    msec = float(angle)/90.0 + 1.5;
    pwm_count = 750.0 * msec;
    OCR1A = pwm_count;
  }
  
}