#include <Servo.h>

Servo myServo;        // create a servo object
int feedbackPin = 0;  // analog input pin to read feedback signal
int targetAngle = 90; // target angle for the servo
int feedbackValue;    // variable to store feedback signal

void setup() {
  myServo.attach(9);  // attach the servo to pin 9
  Serial.begin(9600); // initialize serial communication
}

void loop() {
  feedbackValue = analogRead(feedbackPin);  // read the feedback signal
  int currentAngle = map(feedbackValue, 0, 1023, 0, 180); // map the feedback signal to an angle value
  int error = targetAngle - currentAngle; // calculate the error between target and current angle
  int offset = map(error, -90, 90, -30, 30); // map the error to a servo offset value
  int servoPos = targetAngle + offset; // calculate the new servo position
  
  myServo.write(servoPos); // set the servo position
  delay(10); // wait for the servo to move
  
  Serial.print("Target Angle: ");
  Serial.print(targetAngle);
  Serial.print("\t Current Angle: ");
  Serial.print(currentAngle);
  Serial.print("\t Error: ");
  Serial.print(error);
  Serial.print("\t Servo Position: ");
  Serial.println(servoPos);
}