Your DELAY constant is 1 ms, but you say the pulse rate for the PWM servo is 50 Hz which is 20 ms, so assuming your control for loop has trivial overhead you are messing with the control pulse width 20 times faster than the pulse is generated. What don't I understand here? Could this be related to "My servo required me to tweak these numbers a tiny bit"?
Premature optimization is the root of all job security
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