code: def set_servo_angle(self, goalangle, goaltime, led):
          
          if (self.servomodel==0x06) or (self.servomodel == 0x04):
              goalposition = scale(goalangle, -159.9, 159.6, 10627, 22129)
          else:
              goalposition = scale(goalangle, -150, 150, 21, 1002)
  
          self.set_servo_position(goalposition, goaltime, led)
docs: Sets the servo angle (in degrees)
  
          Enable torque using torque_on function before calling this
  
          Args:
              goalangle (int): The desired angle in degrees, range -150 to 150
              goaltime (int): the time taken to move from present
               position to goalposition
              led (int): the LED color
                         0x00 LED off
                         0x04 GREEN
                         0x08 BLUE
                         0x10 RED