diff --git a/0x001d_static-conditionals/.gitignore b/0x001d_static-conditionals/.gitignore
index 149d92e..2435c20 100644
--- a/0x001d_static-conditionals/.gitignore
+++ b/0x001d_static-conditionals/.gitignore
@@ -1,5 +1,2 @@
-.idea
-_deps
-cmake-*
 build
-.DS_Store
+!.vscode/*
diff --git a/0x001d_static-conditionals/.vscode/.cortex-debug.peripherals.state.json b/0x001d_static-conditionals/.vscode/.cortex-debug.peripherals.state.json
deleted file mode 100644
index 0637a08..0000000
--- a/0x001d_static-conditionals/.vscode/.cortex-debug.peripherals.state.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
\ No newline at end of file
diff --git a/0x001d_static-conditionals/.vscode/.cortex-debug.registers.state.json b/0x001d_static-conditionals/.vscode/.cortex-debug.registers.state.json
deleted file mode 100644
index 0637a08..0000000
--- a/0x001d_static-conditionals/.vscode/.cortex-debug.registers.state.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
\ No newline at end of file
diff --git a/0x001d_static-conditionals/.vscode/c_cpp_properties.json b/0x001d_static-conditionals/.vscode/c_cpp_properties.json
index ada839e..c429d6d 100644
--- a/0x001d_static-conditionals/.vscode/c_cpp_properties.json
+++ b/0x001d_static-conditionals/.vscode/c_cpp_properties.json
@@ -1,18 +1,22 @@
 {
-  "configurations": [
-    {
-      "name": "Pico",
-      "includePath": [
-        "${workspaceFolder}/**",
-        "${env:PICO_SDK_PATH}/**"
-      ],
-      "defines": [],
-      "compilerPath": "${env:PICO_INSTALL_PATH}/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe",
-      "cStandard": "c11",
-      "cppStandard": "c++11",
-      "intelliSenseMode": "linux-gcc-arm",
-      "configurationProvider": "ms-vscode.cmake-tools"
-    }
-  ],
-  "version": 4
+    "configurations": [
+        {
+            "name": "Pico",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${userHome}/.pico-sdk/sdk/2.2.0/**"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h",
+                "${userHome}/.pico-sdk/sdk/2.2.0/src/common/pico_base_headers/include/pico.h"
+            ],
+            "defines": [],
+            "compilerPath": "${userHome}/.pico-sdk/toolchain/14_2_Rel1/bin/arm-none-eabi-gcc.exe",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-arm"
+        }
+    ],
+    "version": 4
 }
diff --git a/0x001d_static-conditionals/.vscode/cmake-kits.json b/0x001d_static-conditionals/.vscode/cmake-kits.json
new file mode 100644
index 0000000..b0f3815
--- /dev/null
+++ b/0x001d_static-conditionals/.vscode/cmake-kits.json
@@ -0,0 +1,15 @@
+[
+    {
+        "name": "Pico",
+        "compilers": {
+            "C": "${command:raspberry-pi-pico.getCompilerPath}",
+            "CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
+        },
+        "environmentVariables": {
+            "PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
+        },
+        "cmakeSettings": {
+            "Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
+        }
+    }
+]
\ No newline at end of file
diff --git a/0x001d_static-conditionals/.vscode/extensions.json b/0x001d_static-conditionals/.vscode/extensions.json
index 03ba0af..a940d7c 100644
--- a/0x001d_static-conditionals/.vscode/extensions.json
+++ b/0x001d_static-conditionals/.vscode/extensions.json
@@ -1,9 +1,9 @@
 {
-  "recommendations": [
-    "marus25.cortex-debug",
-    "ms-vscode.cmake-tools",
-    "ms-vscode.cpptools",
-    "ms-vscode.cpptools-extension-pack",
-    "ms-vscode.vscode-serial-monitor"
-  ]
-}
+    "recommendations": [
+        "marus25.cortex-debug",
+        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "ms-vscode.vscode-serial-monitor",
+        "raspberry-pi.raspberry-pi-pico"
+    ]
+}
\ No newline at end of file
diff --git a/0x001d_static-conditionals/.vscode/launch.json b/0x001d_static-conditionals/.vscode/launch.json
index 2b22acf..424aa71 100644
--- a/0x001d_static-conditionals/.vscode/launch.json
+++ b/0x001d_static-conditionals/.vscode/launch.json
@@ -1,58 +1,50 @@
 {
-  "version": "0.2.0",
-  "configurations": [
-    {
-      "name": "Pico Debug (Cortex-Debug)",
-      "cwd": "${workspaceFolder}",
-      "executable": "${command:cmake.launchTargetPath}",
-      "request": "launch",
-      "type": "cortex-debug",
-      "servertype": "openocd",
-      "gdbPath": "arm-none-eabi-gdb",
-      "device": "RP2040",
-      "configFiles": [
-        "interface/cmsis-dap.cfg",
-        "target/rp2040.cfg"
-      ],
-      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
-      "runToEntryPoint": "main",
-      "openOCDLaunchCommands": [
-        "adapter speed 1000"
-      ]
-    },
-    {
-      "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
-      "cwd": "${workspaceFolder}",
-      "executable": "${command:cmake.launchTargetPath}",
-      "request": "launch",
-      "type": "cortex-debug",
-      "servertype": "external",
-      "gdbTarget": "localhost:3333",
-      "gdbPath": "arm-none-eabi-gdb",
-      "device": "RP2040",
-      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
-      "runToEntryPoint": "main"
-    },
-    {
-      "name": "Pico Debug (C++ Debugger)",
-      "type": "cppdbg",
-      "request": "launch",
-      "cwd": "${workspaceFolder}",
-      "program": "${command:cmake.launchTargetPath}",
-      "MIMode": "gdb",
-      "miDebuggerPath": "arm-none-eabi-gdb",
-      "miDebuggerServerAddress": "localhost:3333",
-      "debugServerPath": "openocd",
-      "debugServerArgs": "-f interface/cmsis-dap.cfg -f target/rp2040.cfg -c \"adapter speed 1000\"",
-      "serverStarted": "Listening on port .* for gdb connections",
-      "filterStderr": true,
-      "stopAtEntry": true,
-      "hardwareBreakpoints": {
-        "require": true,
-        "limit": 4
-      },
-      "preLaunchTask": "Flash",
-      "svdPath": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd"
-    }
-  ]
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug (Cortex-Debug)",
+            "cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg"
+            ],
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ],
+            "openOCDLaunchCommands": [
+                "adapter speed 5000"
+            ]
+        },
+        {
+            "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "external",
+            "gdbTarget": "localhost:3333",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ]
+        },
+    ]
 }
diff --git a/0x001d_static-conditionals/.vscode/settings.json b/0x001d_static-conditionals/.vscode/settings.json
index 8ad90e8..95be83b 100644
--- a/0x001d_static-conditionals/.vscode/settings.json
+++ b/0x001d_static-conditionals/.vscode/settings.json
@@ -1,30 +1,40 @@
 {
-    // These settings tweaks to the cmake plugin will ensure
-    // that you debug using cortex-debug instead of trying to launch
-    // a Pico binary on the host
-    "cmake.statusbar.advanced": {
-        "debug": {
-            "visibility": "hidden"
+    "cmake.showSystemKits": false,
+    "cmake.options.statusBarVisibility": "hidden",
+    "cmake.options.advanced": {
+        "build": {
+            "statusBarVisibility": "hidden"
         },
         "launch": {
-            "visibility": "hidden"
+            "statusBarVisibility": "hidden"
         },
-        "build": {
-            "visibility": "hidden"
-        },
-        "buildTarget": {
-            "visibility": "hidden"
+        "debug": {
+            "statusBarVisibility": "hidden"
         }
     },
-    "cmake.buildBeforeRun": true,
-    "cmake.configureOnOpen": true,
-    "cmake.configureSettings": {
-      "CMAKE_MODULE_PATH": "${env:PICO_INSTALL_PATH}/pico-sdk-tools"
-    },
+    "cmake.configureOnEdit": false,
+    "cmake.automaticReconfigure": false,
+    "cmake.configureOnOpen": false,
     "cmake.generator": "Ninja",
-    "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
-    "C_Cpp.errorSquiggles": "enabled",
-    "files.associations": {
-        "stdlib.h": "c"
-    }
+    "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.31.5/bin/cmake",
+    "C_Cpp.debugShortcut": false,
+    "terminal.integrated.env.windows": {
+        "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.2.0",
+        "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1",
+        "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.31.5/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
+    },
+    "terminal.integrated.env.osx": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "terminal.integrated.env.linux": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "raspberry-pi-pico.cmakeAutoConfigure": true,
+    "raspberry-pi-pico.useCmakeTools": false,
+    "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.31.5/bin/cmake",
+    "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
 }
diff --git a/0x001d_static-conditionals/.vscode/tasks.json b/0x001d_static-conditionals/.vscode/tasks.json
index a437c2f..d1b3193 100644
--- a/0x001d_static-conditionals/.vscode/tasks.json
+++ b/0x001d_static-conditionals/.vscode/tasks.json
@@ -1,29 +1,102 @@
 {
-  "version": "2.0.0",
-  "tasks": [
-    {
-      "label": "Flash",
-      "type": "shell",
-      "command": "openocd",
-      "args": [
-        "-f",
-        "interface/cmsis-dap.cfg",
-        "-f",
-        "target/rp2040.cfg",
-        "-c",
-        "adapter speed 1000; program {${command:cmake.launchTargetPath}} verify reset exit"
-      ],
-      "problemMatcher": []
-    },
-    {
-      "label": "Build",
-      "type": "cmake",
-      "command": "build",
-      "problemMatcher": "$gcc",
-      "group": {
-        "kind": "build",
-        "isDefault": true
-      }
-    }
-  ]
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Compile Project",
+            "type": "process",
+            "isBuildCommand": true,
+            "command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
+            "args": ["-C", "${workspaceFolder}/build"],
+            "group": "build",
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": "$gcc",
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
+            }
+        },
+        {
+            "label": "Run Project",
+            "type": "process",
+            "command": "${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool",
+            "args": [
+                "load",
+                "${command:raspberry-pi-pico.launchTargetPath}",
+                "-fx"
+            ],
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool.exe"
+            }
+        },
+        {
+            "label": "Flash",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c",
+                "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        },
+        {
+            "label": "Rescue Reset",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/${command:raspberry-pi-pico.getChip}-rescue.cfg",
+                "-c",
+                "adapter speed 5000; reset halt; exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        },
+        {
+            "label": "RISC-V Reset (RP2350)",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-c",
+                "set USE_CORE { rv0 rv1 cm0 cm1 }",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/rp2350.cfg",
+                "-c",
+                "adapter speed 5000; init;",
+                "-c",
+                "write_memory 0x40120158 8 { 0x3 }; echo [format \"Info : ARCHSEL 0x%02x\" [read_memory 0x40120158 8 1]];",
+                "-c",
+                "reset halt; targets rp2350.rv0; echo [format \"Info : ARCHSEL_STATUS 0x%02x\" [read_memory 0x4012015C 8 1]]; exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        }
+    ]
 }
diff --git a/0x001d_static-conditionals/main.c b/0x001d_static-conditionals/0x001d_static-conditionals.c
similarity index 75%
rename from 0x001d_static-conditionals/main.c
rename to 0x001d_static-conditionals/0x001d_static-conditionals.c
index c92587c..8ad9328 100644
--- a/0x001d_static-conditionals/main.c
+++ b/0x001d_static-conditionals/0x001d_static-conditionals.c
@@ -1,11 +1,16 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
+#include "servo.h"
+
+#define SERVO_GPIO 6
 
 int main(void) {
     stdio_init_all();
 
     int choice = 1;
 
+    servo_init(SERVO_GPIO);
+
     while (true) {
         if (choice == 1) {
             printf("1\r\n");
@@ -25,5 +30,10 @@ int main(void) {
             default:
                 printf("??\r\n");  
         }
+
+        servo_set_angle(0.0f);
+        sleep_ms(500);
+        servo_set_angle(180.0f);
+        sleep_ms(500);
     }
-}
+}
\ No newline at end of file
diff --git a/0x001d_static-conditionals/CMakeLists.txt b/0x001d_static-conditionals/CMakeLists.txt
index b0a32b9..7b03b00 100644
--- a/0x001d_static-conditionals/CMakeLists.txt
+++ b/0x001d_static-conditionals/CMakeLists.txt
@@ -1,21 +1,59 @@
+# Generated Cmake Pico project file
+
 cmake_minimum_required(VERSION 3.13)
 
-include(pico_sdk_import.cmake)
-project(0x001d_static-conditionals C CXX ASM)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
+if(WIN32)
+    set(USERHOME $ENV{USERPROFILE})
+else()
+    set(USERHOME $ENV{HOME})
+endif()
+set(sdkVersion 2.2.0)
+set(toolchainVersion 14_2_Rel1)
+set(picotoolVersion 2.2.0-a4)
+set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
+if (EXISTS ${picoVscode})
+    include(${picoVscode})
+endif()
+# ====================================================================================
+set(PICO_BOARD pico2 CACHE STRING "Board type")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(0x001d_static-conditionals C CXX ASM)
+
+# Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
-add_executable(0x001d_static-conditionals
-    main.c
-)
+# Add executable. Default name is the project name, version 0.1
 
-pico_enable_stdio_usb(0x001d_static-conditionals 1)
+add_executable(0x001d_static-conditionals 0x001d_static-conditionals.c servo.c)
+
+pico_set_program_name(0x001d_static-conditionals "0x001d_static-conditionals")
+pico_set_program_version(0x001d_static-conditionals "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
 pico_enable_stdio_uart(0x001d_static-conditionals 1)
+pico_enable_stdio_usb(0x001d_static-conditionals 0)
+
+# Add the standard library to the build
+target_link_libraries(0x001d_static-conditionals
+        pico_stdlib
+        hardware_pwm
+        hardware_clocks)
+
+# Add the standard include files to the build
+target_include_directories(0x001d_static-conditionals PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+)
 
 pico_add_extra_outputs(0x001d_static-conditionals)
 
-target_link_libraries(0x001d_static-conditionals 
-    pico_stdlib
-)
diff --git a/0x001d_static-conditionals/pico_sdk_import.cmake b/0x001d_static-conditionals/pico_sdk_import.cmake
index 65f8a6f..d493cc2 100644
--- a/0x001d_static-conditionals/pico_sdk_import.cmake
+++ b/0x001d_static-conditionals/pico_sdk_import.cmake
@@ -3,6 +3,28 @@
 # This can be dropped into an external project to help locate this SDK
 # It should be include()ed prior to project()
 
+# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
+#
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+# following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+# disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
+# derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
     set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
     message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
@@ -18,9 +40,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
     message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
 endif ()
 
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+endif()
+
 set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
 set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
 set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
 
 if (NOT PICO_SDK_PATH)
     if (PICO_SDK_FETCH_FROM_GIT)
@@ -29,25 +62,40 @@ if (NOT PICO_SDK_PATH)
         if (PICO_SDK_FETCH_FROM_GIT_PATH)
             get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
         endif ()
-        # GIT_SUBMODULES_RECURSE was added in 3.17
-        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
-            FetchContent_Declare(
-                    pico_sdk
-                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
-                    GIT_TAG master
-                    GIT_SUBMODULES_RECURSE FALSE
-            )
-        else ()
-            FetchContent_Declare(
-                    pico_sdk
-                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
-                    GIT_TAG master
-            )
-        endif ()
+        FetchContent_Declare(
+                pico_sdk
+                GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+        )
 
         if (NOT pico_sdk)
             message("Downloading Raspberry Pi Pico SDK")
-            FetchContent_Populate(pico_sdk)
+            # GIT_SUBMODULES_RECURSE was added in 3.17
+            if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                        GIT_SUBMODULES_RECURSE FALSE
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            else ()
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            endif ()
+
             set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
         endif ()
         set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
diff --git a/0x001d_static-conditionals/servo.c b/0x001d_static-conditionals/servo.c
new file mode 100644
index 0000000..ee48f0d
--- /dev/null
+++ b/0x001d_static-conditionals/servo.c
@@ -0,0 +1,89 @@
+/**
+ * @file servo.c
+ * @brief Implementation of a simple SG90 servo driver using PWM (50Hz)
+ * @author Kevin Thomas
+ * @date 2025
+ *
+ * MIT License
+ *
+ * Copyright (c) 2025 Kevin Thomas
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "servo.h"
+#include "pico/stdlib.h"
+#include "hardware/pwm.h"
+#include "hardware/clocks.h"
+
+// Default servo pulse range (SG90 typical)
+static const uint16_t SERVO_DEFAULT_MIN_US = 1000;
+static const uint16_t SERVO_DEFAULT_MAX_US = 2000;
+
+// internal state
+static uint8_t servo_pin = 0;
+static uint servo_slice = 0;
+static uint servo_chan = 0;
+static uint32_t servo_wrap = 20000 - 1; // wrap to map microseconds for 50Hz
+static float servo_hz = 50.0f;
+
+// Convert microsecond pulse to PWM level based on wrap and frequency
+static uint32_t pulse_us_to_level(uint32_t pulse_us) {
+    const float period_us = 1000000.0f / servo_hz; // 20000us
+    float counts_per_us = (servo_wrap + 1) / period_us;
+    return (uint32_t)(pulse_us * counts_per_us + 0.5f);
+}
+
+void servo_init(uint8_t pin) {
+    servo_pin = pin;
+
+    // Configure GPIO for PWM
+    gpio_set_function(servo_pin, GPIO_FUNC_PWM);
+    servo_slice = pwm_gpio_to_slice_num(servo_pin);
+    servo_chan = pwm_gpio_to_channel(servo_pin);
+
+    pwm_config config = pwm_get_default_config();
+
+    // Calculate clock divider to achieve 50 Hz with our chosen wrap
+    const uint32_t sys_clock_hz = clock_get_hz(clk_sys);
+    float clock_div = (float)sys_clock_hz / (servo_hz * (servo_wrap + 1));
+
+    pwm_config_set_clkdiv(&config, clock_div);
+    pwm_config_set_wrap(&config, servo_wrap);
+    pwm_init(servo_slice, &config, true);
+}
+
+void servo_set_pulse_us(uint16_t pulse_us) {
+    if (servo_pin == 0) return; // not initialized
+    // clamp to defaults
+    if (pulse_us < SERVO_DEFAULT_MIN_US) pulse_us = SERVO_DEFAULT_MIN_US;
+    if (pulse_us > SERVO_DEFAULT_MAX_US) pulse_us = SERVO_DEFAULT_MAX_US;
+    uint32_t level = pulse_us_to_level(pulse_us);
+    pwm_set_chan_level(servo_slice, servo_chan, level);
+}
+
+void servo_set_angle(float degrees) {
+    if (degrees < 0.0f) degrees = 0.0f;
+    if (degrees > 180.0f) degrees = 180.0f;
+    // linear map 0..180 -> min_us..max_us
+    float ratio = degrees / 180.0f;
+    uint16_t pulse = (uint16_t)(SERVO_DEFAULT_MIN_US + ratio * (SERVO_DEFAULT_MAX_US - SERVO_DEFAULT_MIN_US) + 0.5f);
+    servo_set_pulse_us(pulse);
+}
+#
\ No newline at end of file
diff --git a/0x001d_static-conditionals/servo.h b/0x001d_static-conditionals/servo.h
new file mode 100644
index 0000000..878d029
--- /dev/null
+++ b/0x001d_static-conditionals/servo.h
@@ -0,0 +1,62 @@
+/**
+ * @file servo.h
+ * @brief Header for SG90 servo driver (PWM)
+ * @author Kevin Thomas
+ * @date 2025
+ *
+ * MIT License
+ *
+ * Copyright (c) 2025 Kevin Thomas
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef SERVO_H
+#define SERVO_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/**
+ * @brief Initialize servo driver on a given GPIO pin
+ *
+ * Configures PWM for a 50 Hz servo (SG90). Call once before using other API.
+ *
+ * @param pin GPIO pin number to use for servo PWM
+ */
+void servo_init(uint8_t pin);
+
+/**
+ * @brief Set servo pulse width in microseconds (typical 1000-2000)
+ *
+ * @param pulse_us Pulse width in microseconds
+ */
+void servo_set_pulse_us(uint16_t pulse_us);
+
+/**
+ * @brief Set servo angle in degrees (0 to 180)
+ *
+ * Maps 0..180 degrees to the configured pulse range (default 1000..2000 us).
+ * Values outside [0,180] will be clamped.
+ *
+ * @param degrees Angle in degrees
+ */
+void servo_set_angle(float degrees);
+
+#endif // SERVO_H
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