//servoOneWriteArduino for the Arduino without servo sheild
// Serial receives two integers separated by commas (pin and angle)
// All digital pins can be used except 0 and 1 which are
// used for Serial. Pins 2 through 13 are valid.
// Angles are restricted to 10-170 degrees.

 #include <Servo.h>
 Servo servoCurrent;                 
 void setup() 
 {
    Serial.begin(9600); 
 }
 void loop() 
 {
    while (Serial.available() > 0 )
    {
      int iPos = 10; 
      int iDelta = 1;  
      int iPin = Serial.parseInt();
      int iAngleStrt = Serial.parseInt();
      int iAngleEnd = Serial.parseInt();
      int iJunk = Serial.parseInt();
      if (servoCurrent.attached()) 
      {  
         servoCurrent.detach();
         delay(25);
      } 
      if ((iPin >= 2 && iPin <= 13) && (iAngleStrt >= 10 && iAngleEnd <= 170))
      { 
         servoCurrent.attach(iPin);
         delay(25);
         if (iAngleStrt < iAngleEnd) 
         {
           for (iPos = iAngleStrt; iPos <= iAngleEnd; iPos += iDelta)
           {
             servoCurrent.write(iPos);
             delay(15);
           }
         }
         else
         {
           for (iPos = iAngleStrt; iPos <= iAngleEnd; iPos -= iDelta)
           {
             servoCurrent.write(iPos);
             delay(15);
           }
         }                                     
         servoCurrent.detach();
         delay(25); 
      }
    }
 }