On Paper: A Brief Description of PWM on Creating a 20 ms Period and Non-Inverted Mode for a Hitec Hobby Servo
In non-inverted mode, the pulse is stared at the beginning of the period. The Period to match 50 Hz (20 ms period time frame), a timer/counter is used and the top value ICR1 is set at 19,999.
To set non-inverted mode, the COM1A1 is set and COM1A0 is not set.
The OCR value is set to correspond to the non-inverted mode so it is set at the low end of the timer/counter count. 2 ms would be equal to 2000. In inverted mode, the 2 ms would be equal to 19,999 - 2000 since the pulse is at the end.
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