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-.. highlight:: cpp
-
-.. _libs-servo:
-
-Servo
-=====
-
-This documents the Servo library for controlling RC servomotors.  It
-is implemented as a thin layer over the built-in :ref:`timer
-peripherals <timers>`.
-
-You can use this library in the :ref:`IDE <ide>` by choosing the Servo
-item under the Sketch > Import Library... menu.
-
-If you are using the :ref:`Unix toolchain <unix-toolchain>`, the
-library is located in the ``/libraries/Servo/`` :ref:`libmaple`
-directory.
-
-.. contents:: Contents
-   :local:
-
-Servo Class Reference
----------------------
-
-You can construct a Servo object by including the declaration ::
-
-     Servo servo;
-
-in your sketch.  This will create a Servo object called ``servo``.
-You can then use any of its methods; for instance, to control a
-servomotor attached to pin 9, you could write ::
-
-     servo.attach(9);
-
-.. doxygenclass:: Servo
-   :members:
-
-Arduino Compatibility
----------------------
-
-The Servo class provides a public interface identical to the Arduino
-version's documented functionality (as of Arduino 0021), so in most
-cases, this library will be a drop-in replacement.
-
-However, there are some differences, essentially at the level of
-implementation details.
-
-The major difference is that while the Arduino implementation drives
-servos with "bit-banged" PWM (in the sense that timer interrupt
-handlers are used to manually toggle pins), the Maple implementation
-uses :ref:`timers <timers>` to drive the PWM directly.
-
-Consequently, **the Maple implementation only allows Servo instances
-to attach to pins that support PWM**.
-
-To determine if a pin supports PWM, you can either check if "PWM"
-appears next to its number on your board's silkscreen, or look for it
-in the list of :ref:`boardPWMPins <lang-board-values-pwm-pins>` in
-your board's :ref:`hardware documentation <index-boards>`.
-
-RC Servos expect a pulse approximately every 20ms.  In the Maple
-implementation, :ref:`periods <lang-hardwaretimer-setperiod>` are set
-for entire timers, rather than individual channels.  Thus,
-``attach()``\ ing a Servo to a pin can interfere with other pins
-associated with the same timer\ [#fard-servo]_.
-
-Because of this, we recommend connecting multiple servomotors to pins
-which share a timer, in order to keep as many timers free for other
-purposes as possible.  Consult your board's :ref:`Timer Pin Map
-<gpio-pin-maps>` to match up pins and timer channels.
-
-And here's some fine print:
-
-- Although it is not publicly documented to do so, the Arduino
-  implementation of `attach()
-  <http://arduino.cc/en/Reference/ServoAttach>`_ returns the timer
-  channel associated with the newly-attached pin, or 0 on failure (as
-  of Arduino 0021).  The Maple implementation returns :ref:`true
-  <lang-constants-true>` on success, and :ref:`false
-  <lang-constants-false>` on failure (and this is its documented
-  behavior).
-
-- In another bit of undocumented behavior, the Arduino implementation
-  of write() also treats its argument as an angle or a pulse width
-  depending on its value.  This is a bad idea, and we don't do it.
-
-.. rubric:: Footnotes
-
-.. [#fard-servo] The Arduino implementation also captures timer
-   channels in groups as more Servo objects are attached, but the
-   details of which channels have their periods reset when are
-   slightly different.