software servo! this implements and will close #41. also fixed issue with softpwm cleanup(), update to version 0.4.0

README.rst

@@ -285,10 +285,8 @@ Hardware PWM requires a DTB Overlay loaded on the CHIP to allow the kernel to kn
     SPWM.set_frequency("XIO-P7", 10)
     # To Stop SPWM
     SPWM.stop("XIO-P7")
-    # Cleanup can have no argument to clean up all SoftPWM outputs
+    # Cleanup
     SPWM.cleanup()
-    # Or you can specify a single SoftPWM output to cleanup (keeping the rest intact)
-    SPWM.cleanup("XIO-P7")
     #For specific polarity: this example sets polarity to 1 on start:
     SPWM.start("XIO-P7", 50, 2000, 1)
 
@@ -296,6 +294,24 @@ Use SOFTPWM at low speeds (hundreds of Hz) for the best results. Do not use for
 
 If using SOFTPWM and PWM at the same time, import CHIP_IO.SOFTPWM as SPWM or something different than PWM as to not confuse the library.
 
+**SERVO**::
+
+    import CHIP_IO.SERVO as SERVO
+    # Enable/Disable Debug
+    SERVO.toggle_debug()
+    #SPWM.start(channel, angle=0, range=180)
+    #angle values are between +/- range/2)
+    #you can choose any pin except the XIO's
+    SERVO.start("CSID4", 50)
+    SERVO.set_angle("CSID4", 25.5)
+    SERVO.set_range("CSID4", 90)
+    # To Stop Servo
+    SERVO.stop("CSID4")
+    # Cleanup
+    SERVO.cleanup()
+
+The Software Servo control only works on the LCD and CSI pins.  The XIO is too slow to control.
+
 **LRADC**::
 
 The LRADC was enabled in the 4.4.13-ntc-mlc.  This is a 6 bit ADC that is 2 Volt tolerant.