text: import gc
  import time
  import math
  from servo import ServoCluster, servo2040
  
  """
  Demonstrates how to create a ServoCluster object to control multiple servos at once.
  
  NOTE: ServoCluster uses the RP2040's PIO system, and as
  such may have problems when running code multiple times.
  If you encounter issues, try resetting your board.
  """
  
  # Free up hardware resources ahead of creating a new ServoCluster
  gc.collect()
  
  # Create a servo cluster for pins 0 to 3, using PIO 0 and State Machine 0
  START_PIN = servo2040.SERVO_1
  END_PIN = servo2040.SERVO_4
  servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
  
  # Enable all servos (this puts them at the middle)
  servos.enable_all()
  time.sleep(2)
  
  # Go to min
  servos.all_to_min()
  time.sleep(2)
  
  # Go to max
  servos.all_to_max()
  time.sleep(2)
  
  # Go back to mid
  servos.all_to_mid()
  time.sleep(2)
  
  SWEEPS = 3              # How many sweeps of the servo to perform
  STEPS = 10              # The number of discrete sweep steps
  STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
  SWEEP_EXTENT = 90.0     # How far from zero to move the servos when sweeping
  
  # Do a sine sweep
  for j in range(SWEEPS):
      for i in range(360):
          value = math.sin(math.radians(i)) * SWEEP_EXTENT
          servos.all_to_value(value)
          time.sleep(0.02)
  
  # Do a stepped sweep
  for j in range(SWEEPS):
      for i in range(0, STEPS):
          servos.all_to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
          time.sleep(STEPS_INTERVAL)
      for i in range(0, STEPS):
          servos.all_to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
          time.sleep(STEPS_INTERVAL)
  
  # Disable the servos
  servos.disable_all()
  