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							<span class="px-3 py-1 bg-emerald-600/20 text-emerald-300 text-sm rounded-full">Servo Control</span>
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						<h1 class="text-4xl font-bold mb-4 bg-gradient-to-r from-emerald-400 to-teal-500 bg-clip-text text-transparent">
							Servo Control API
						</h1>
						<p class="text-xl text-gray-400">
							High-level servo control with position and speed modes, built on 25MHz PWM precision
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					<!-- Overview -->
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						<h2 class="text-2xl font-bold mb-4 text-white">Overview</h2>
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							<p class="text-gray-300 mb-4">
								The Servo Control API provides high-level servo motor control built on top of the 25MHz PWM system. 
								Supports both position servos (180° and 360°) and continuous rotation speed servos with type-safe configuration.
							</p>
							<div class="grid md:grid-cols-2 gap-6">
								<div>
									<h3 class="text-lg font-semibold mb-2 text-emerald-400">Servo Types</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• <strong>180° Position</strong> - Standard position servo (0-180°)</li>
										<li>• <strong>360° Position</strong> - Multi-turn position servo (0-360°)</li>
										<li>• <strong>360° Speed</strong> - Continuous rotation servo</li>
									</ul>
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									<h3 class="text-lg font-semibold mb-2 text-teal-400">Key Features</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Type-safe servo configuration</li>
										<li>• Automatic PWM period setup (20ms)</li>
										<li>• Calibrated position and speed control</li>
										<li>• Built on 25MHz PWM precision</li>
									</ul>
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					</section>

					<!-- ServoConfig Types -->
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						<h2 class="text-2xl font-bold mb-6 text-white">ServoConfig Types</h2>
						
						<!-- 180-degree servo -->
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							<h3 class="text-xl font-semibold mb-4 text-emerald-400">180° Position Servo</h3>
							<div class="mb-4">
								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">ServoConfig::one_eighty(pin: u8, pos_0: u32, pos_180: u32) -> Self</code></pre>
							</div>
							<p class="text-gray-300 mb-4">
								Creates configuration for a standard 180-degree position servo.
							</p>
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								<h4 class="font-semibold text-yellow-400 mb-2">Example</h4>
								<pre class="text-gray-300"><code>// Configure 180-degree servo on pin 22
let servo = ServoConfig::one_eighty(22, 25000, 50000);
device.configure_servo(servo.clone())?;

// Move to different positions
device.set_servo_angle(&servo, 0.0)?;    // 0 degrees
device.set_servo_angle(&servo, 90.0)?;   // 90 degrees  
device.set_servo_angle(&servo, 180.0)?;  // 180 degrees</code></pre>
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						<!-- 360-degree speed servo -->
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							<h3 class="text-xl font-semibold mb-4 text-emerald-400">360° Speed Servo</h3>
							<div class="mb-4">
								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">ServoConfig::three_sixty_speed(
    pin: u8, 
    stop: u32, 
    clockwise: u32, 
    anti_clockwise: u32
) -> Self</code></pre>
							</div>
							<p class="text-gray-300 mb-4">
								Creates configuration for a continuous rotation speed servo.
							</p>
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								<h4 class="font-semibold text-yellow-400 mb-2">Example</h4>
								<pre class="text-gray-300"><code>// Configure speed servo based on datasheet timing
// Counterclockwise: 1-1.5ms, Stop: 1.5ms, Clockwise: 1.5-2ms
let speed_servo = ServoConfig::three_sixty_speed(21, 37500, 50000, 25000);
device.configure_servo(speed_servo.clone())?;

// Control speed (-100 to +100)
device.set_servo_speed(&speed_servo, 50.0)?;   // 50% clockwise
device.set_servo_speed(&speed_servo, -25.0)?;  // 25% counterclockwise
device.stop_servo(&speed_servo)?;              // Stop rotation</code></pre>
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					<!-- Device API Functions -->
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						<h2 class="text-2xl font-bold mb-6 text-white">Device API Functions</h2>
						
						<div class="bg-gray-800 rounded-lg p-6 mb-6">
							<h3 class="text-xl font-semibold mb-4 text-emerald-400">configure_servo</h3>
							<div class="mb-4">
								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">pub fn configure_servo(&mut self, config: ServoConfig) -> Result&lt;()&gt;</code></pre>
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							<p class="text-gray-300 mb-4">
								Configures a servo with the specified configuration. Automatically sets PWM period to 20ms if not already set.
							</p>
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							<h3 class="text-xl font-semibold mb-4 text-emerald-400">set_servo_angle</h3>
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								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">pub fn set_servo_angle(&mut self, config: &ServoConfig, angle: f32) -> Result&lt;()&gt;</code></pre>
							</div>
							<p class="text-gray-300 mb-4">
								Sets servo to specific angle. Range depends on servo type (0-180° or 0-360°).
							</p>
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						<div class="bg-gray-800 rounded-lg p-6 mb-6">
							<h3 class="text-xl font-semibold mb-4 text-emerald-400">set_servo_speed</h3>
							<div class="mb-4">
								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">pub fn set_servo_speed(&mut self, config: &ServoConfig, speed: f32) -> Result&lt;()&gt;</code></pre>
							</div>
							<p class="text-gray-300 mb-4">
								Sets speed for continuous rotation servos. Range: -100.0 to 100.0 (negative = counterclockwise).
							</p>
						</div>

						<div class="bg-gray-800 rounded-lg p-6">
							<h3 class="text-xl font-semibold mb-4 text-emerald-400">stop_servo</h3>
							<div class="mb-4">
								<pre class="bg-gray-900 rounded p-4 overflow-x-auto"><code class="text-gray-300">pub fn stop_servo(&mut self, config: &ServoConfig) -> Result&lt;()&gt;</code></pre>
							</div>
							<p class="text-gray-300 mb-4">
								Stops continuous rotation servo by setting it to neutral position.
							</p>
						</div>
					</section>

					<!-- Timing Calibration -->
					<section class="mb-12">
						<h2 class="text-2xl font-bold mb-6 text-white">Timing Calibration</h2>
						<div class="bg-gray-800 rounded-lg p-6">
							<p class="text-gray-300 mb-4">
								Servo timing is based on 25MHz clock cycles. Standard servo timing uses 20ms period (500,000 cycles).
							</p>
							<div class="grid md:grid-cols-2 gap-6">
								<div>
									<h3 class="text-lg font-semibold mb-3 text-emerald-400">Standard Timing</h3>
									<ul class="text-gray-300 space-y-1 text-sm font-mono">
										<li>• 1.0ms (25,000 cycles) - 0° position</li>
										<li>• 1.5ms (37,500 cycles) - Center/Stop</li>
										<li>• 2.0ms (50,000 cycles) - 180° position</li>
									</ul>
								</div>
								<div>
									<h3 class="text-lg font-semibold mb-3 text-teal-400">Custom Calibration</h3>
									<div class="bg-gray-900 rounded p-3">
										<pre class="text-gray-300 text-xs"><code>// Custom calibrated servo
let servo = ServoConfig::one_eighty(
    22,
    60000,  // Custom 0° position
    12000   // Custom 180° position  
);</code></pre>
									</div>
								</div>
							</div>
						</div>
					</section>

					<!-- Complete Example -->
					<section class="mb-12">
						<h2 class="text-2xl font-bold mb-4 text-white">Complete Example</h2>
						<div class="bg-gray-800 rounded-lg p-6">
							<div class="bg-gray-900 rounded p-4">
								<pre class="text-gray-300"><code>use pokeys_lib::*;

fn main() -> Result&lt;()&gt; {`{`}
    let mut device = connect_to_device(0)?;

    // Configure 180-degree position servo
    let position_servo = ServoConfig::one_eighty(22, 25000, 50000);
    device.configure_servo(position_servo.clone())?;

    // Configure continuous rotation speed servo  
    let speed_servo = ServoConfig::three_sixty_speed(21, 37500, 50000, 25000);
    device.configure_servo(speed_servo.clone())?;

    // Control position servo
    for angle in [0.0, 45.0, 90.0, 135.0, 180.0] {`{`}
        device.set_servo_angle(&position_servo, angle)?;
        println!(\"Position servo at {`{`}{`}`}°\", angle);
        std::thread::sleep(std::time::Duration::from_secs(1));
    {`}`}

    // Control speed servo
    device.set_servo_speed(&speed_servo, 50.0)?;  // 50% clockwise
    std::thread::sleep(std::time::Duration::from_secs(2));
    
    device.set_servo_speed(&speed_servo, -30.0)?; // 30% counterclockwise
    std::thread::sleep(std::time::Duration::from_secs(2));
    
    device.stop_servo(&speed_servo)?;             // Stop

    Ok(())
{`}`}</code></pre>
							</div>
						</div>
					</section>

					<!-- Best Practices -->
					<section class="mb-12">
						<h2 class="text-2xl font-bold mb-4 text-white">Best Practices</h2>
						<div class="bg-gray-800 rounded-lg p-6">
							<div class="space-y-4">
								<div>
									<h3 class="text-lg font-semibold mb-2 text-green-400">Calibration</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Test actual servo movement ranges before deployment</li>
										<li>• Use custom timing values for non-standard servos</li>
										<li>• Verify servo datasheet specifications</li>
									</ul>
								</div>
								<div>
									<h3 class="text-lg font-semibold mb-2 text-blue-400">Safety</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Never exceed servo manufacturer's pulse width limits</li>
										<li>• Implement soft start/stop for mechanical systems</li>
										<li>• Monitor servo current for overload protection</li>
									</ul>
								</div>
								<div>
									<h3 class="text-lg font-semibold mb-2 text-purple-400">Performance</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Use ServoConfig for type-safe operations</li>
										<li>• Limit simultaneous servo movements to 6 (hardware PWM channels)</li>
										<li>• Consider power supply capacity for multiple servos</li>
									</ul>
								</div>
							</div>
						</div>
					</section>
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