The first (Adafruit) version of the code simply swept two servos back and forth over their full range at independent rates. While that makes a nice demo, it's not really what I wanted. So time to start hacking the code. As a first step, I wanted a servo to move to a specified position at the programmed rate, then stop until directed to a new position. A few simple changes to the Sweeper class, a bit of code in loop() to excerise it, and it was working. The results are shown in T2MultiServo2.ino.

If we can specify the desired position to sweep to, what else do we need? That's right, programmable sweep time. The Sweeper class functions need to know the time interval between incremental moves. But that's not really what I wanted to specify. I'd like to specify the time for the full move. So that's what I implemented! The code is in T2MultiServo3.ino. Again, the change is pretty straight-forward.