def set_servo_angle(self, goalangle, goaltime, led):
        """ Sets the servo angle (in degrees)

        Enable torque using torque_on function before calling this

        Args:
            goalangle (int): The desired angle in degrees, range -150 to 150
            goaltime (int): the time taken to move from present
             position to goalposition
            led (int): the LED color
                       0x00 LED off
                       0x04 GREEN
                       0x08 BLUE
                       0x10 RED
        """
        if (self.servomodel==0x06) or (self.servomodel == 0x04):
            goalposition = scale(goalangle, -159.9, 159.6, 10627, 22129)
        else:
            goalposition = scale(goalangle, -150, 150, 21, 1002)

        self.set_servo_position(goalposition, goaltime, led)