diff --git a/Code/Python_Code/15.1.1_Sweep/Sweep.py b/Code/Python_Code/15.1.1_Sweep/Sweep.py
index f5b1f6e..22f1234 100644
--- a/Code/Python_Code/15.1.1_Sweep/Sweep.py
+++ b/Code/Python_Code/15.1.1_Sweep/Sweep.py
@@ -7,39 +7,38 @@
 ########################################################################
 import RPi.GPIO as GPIO
 import time
-OFFSE_DUTY = 0.5        #define pulse offset of servo
-SERVO_MIN_DUTY = 2.5+OFFSE_DUTY     #define pulse duty cycle for minimum angle of servo
-SERVO_MAX_DUTY = 12.5+OFFSE_DUTY    #define pulse duty cycle for maximum angle of servo
+OFFSET_DUTY = 0.5        # define pulse offset of servo
+SERVO_MIN_DUTY = 2.5 + OFFSET_DUTY     # define pulse duty cycle for minimum angle of servo
+SERVO_MAX_DUTY = 12.5 + OFFSET_DUTY    # define pulse duty cycle for maximum angle of servo
+SERVO_DELAY_SEC = 0.001
 servoPin = 12
 
-def map( value, fromLow, fromHigh, toLow, toHigh):  # map a value from one range to another range
-    return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow
-
 def setup():
     global p
     GPIO.setmode(GPIO.BOARD)         # use PHYSICAL GPIO Numbering
     GPIO.setup(servoPin, GPIO.OUT)   # Set servoPin to OUTPUT mode
     GPIO.output(servoPin, GPIO.LOW)  # Make servoPin output LOW level
 
-    p = GPIO.PWM(servoPin, 50)     # set Frequece to 50Hz
+    p = GPIO.PWM(servoPin, 50)     # set Frequence to 50Hz
     p.start(0)                     # Set initial Duty Cycle to 0
     
 def servoWrite(angle):      # make the servo rotate to specific angle, 0-180 
-    if(angle<0):
+    if(angle < 0):
         angle = 0
     elif(angle > 180):
         angle = 180
-    p.ChangeDutyCycle(map(angle,0,180,SERVO_MIN_DUTY,SERVO_MAX_DUTY)) # map the angle to duty cycle and output it
+    dc = SERVO_MIN_DUTY + (SERVO_MAX_DUTY - SERVO_MIN_DUTY) * angle / 180.0 # map the angle to duty cycle
+    p.ChangeDutyCycle(dc)
     
 def loop():
     while True:
-        for dc in range(0, 181, 1):   # make servo rotate from 0 to 180 deg
-            servoWrite(dc)     # Write dc value to servo
-            time.sleep(0.001)
+        for angle in range(0, 181, 1):   # make servo rotate from 0 to 180 deg
+            servoWrite(angle)
+            time.sleep(SERVO_DELAY_SEC)
         time.sleep(0.5)
-        for dc in range(180, -1, -1): # make servo rotate from 180 to 0 deg
-            servoWrite(dc)
-            time.sleep(0.001)
+        for angle in range(180, -1, -1): # make servo rotate from 180 to 0 deg
+            servoWrite(angle)
+            time.sleep(SERVO_DELAY_SEC)
         time.sleep(0.5)
 
 def destroy():