Update firmware.ino for smoother movement

I modified the pulse width to do more accurate "bit banging" as well as added more calls to each servo pulse since the servo doesn't fully get to the angle on one call. It seems after 30 calls we get as close as we are going to get to the desired angle.
Update firmware.ino
#8 when I run it, I don't get the full rotation. but I see that exceeding the pulse width of 1 ~ 2 ms is bad. I changed the code to not use magic numbers to clarify the mapping of angle to time.
Merge branch 'mtmargala-master'