Golang and Arduino

The class

#include <Arduino.h>
#include <Servo.h>

class AsyncServo
{
  Servo servo;   
  int pos;       
  int increment; 
  int incrementBy = 1;
  int updateInterval = 10;       
  unsigned long lastUpdate; 
  bool done = false;

public:
  AsyncServo(int interval =10, int i = 1)
  {
    updateInterval = interval;
    increment = i;
    incrementBy = i;
  }

  // Attach pin to servo
  void Attach(int pin)
  {
    servo.attach(pin);
  }

  // Detach from servo
  void Detach()
  {
    servo.detach();
  }

  // Rotate servo to "Home" ( pos = 0);
  void Home()
  {
    if (pos >= 180)
    {
      done = false;
      increment = -incrementBy;
    }
  }

  // Rotate servo to "End" ( pos = 180 );
  void End()
  {
    if (pos <= 0)
    {
      done = false;
      increment = incrementBy;
    }
  }

  // just set servo to some position between 0 and 180;
  void setPosition(uint8_t p) {
    done = true;
    // pos = p; ????
    servo.write(pos);
  }

  // check if servo done its movement
  bool Done()
  {
    return done;
  }

  // check if servo is at home position: pos = 0;
  bool AtHome()
  {
    return pos <= 0;
  }

  // asynchroniuosly rotate motor
  void Run()
  {
    if (done)
      return;

    if ((millis() - lastUpdate) > updateInterval) 
    {
      lastUpdate = millis();
      pos += increment;
      servo.write(pos);
      Serial.println(pos);
      if ((pos >= 180) || (pos <= 0))
      {
        done = true;
        return;
      }
    }
  }
};

class usage on arduino UNO / mega ( for others - check for PWM pins )

AsyncServo s1(100, 10); // slow movement
AsyncServo s2(10, 10);  // fast movement

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(9600);
  s.Attach(9); 
s.Attach(10);

  s1.Home();
s2.Home();
}

void loop()
{
  s1.Run(); // servo 1 step
 s2.Run(); // servo 2 step 
  if (s1.Done()) // if servo motor stopped
  {
    if (s1.AtHome()) //check if its position is Home ( 0 ) 
    {
      s1.End(); // tell servo motor to rotate to max ( 180 )
    }
    else
    {
      s1.Home(); // tell servo motor to rate back to home ( 0 );
    }
  }
  if (s2.Done()) // if servo motor stopped
  {
    if (s2.AtHome()) //check if its position is Home ( 0 ) 
    {
      s2.End(); // tell servo motor to rotate to max ( 180 )
    }
    else
    {
      s1.Home(); // tell servo motor to rate back to home ( 0 );
    }
  }
}