Formula: pulse (µs) = min_pulse + (angle ÷ max_angle)×(max_pulse − min_pulse). The 500–2500µs range (0°–180°) is a common "extended" hobby-servo range; many servos are only rated/safe for 1000–2000µs (0°–180°) — always check your specific servo's datasheet before driving it outside its rated range, as forcing it past its mechanical limits can strip the gears. Frame period = 1/refresh-rate (20ms at the standard 50Hz).