diff --git a/libraries/MySensors/examples/ServoActuator/ServoActuator.ino b/libraries/MySensors/examples/ServoActuator/ServoActuator.ino
index 39b3882..2247863 100644
--- a/libraries/MySensors/examples/ServoActuator/ServoActuator.ino
+++ b/libraries/MySensors/examples/ServoActuator/ServoActuator.ino
@@ -3,6 +3,8 @@
 // The servo consumes much power and should probably have its own powersource.'
 // The arduino might spontanally restart if too much power is used (happend
 // to me when servo tried to pass the extreme positions = full load).
+// Contribution by: Derek Macias
+
 
 #include <Sensor.h>
 #include <SPI.h>
@@ -10,24 +12,28 @@
 #include <Servo.h> 
 #include <RF24.h>
 
-#define SERVO_DIGITAL_OUT_PIN 3 
-#define SERVO_MIN 30  // Fine tune your servos min. 0-180
+#define SERVO_DIGITAL_OUT_PIN 3
+#define SERVO_MIN 0 // Fine tune your servos min. 0-180
 #define SERVO_MAX 180  // Fine tune your servos max. 0-180
+#define DETACH_DELAY 900 // Tune this to let your movement finish before detaching the servo
 
 // Set RADIO_ID to something unique in your sensor network (1-254)
 // or set to AUTO if you want gw to assign a RADIO_ID for you.
-#define RADIO_ID AUTO
+#define RADIO_ID 6
 #define CHILD_ID 10   // Id of the sensor child
 
 Sensor gw(9, 10);
 Servo myservo;  // create servo object to control a servo 
                 // a maximum of eight servo objects can be created Sensor gw(9,10);
+unsigned long timeOfLastChange = 0;
+bool attachedServo = false;
+
+                
 
 void setup() 
 { 
   Serial.begin(BAUD_RATE);
   gw.begin(RADIO_ID);
-  myservo.attach(SERVO_DIGITAL_OUT_PIN);   
 
   // Register all sensors to gw (they will be created as child devices)
   gw.sendSensorPresentation(CHILD_ID, S_COVER);
@@ -44,28 +50,37 @@ void loop()
       message_s message = gw.getMessage(); 
       setRelayStatus(message);
   }
+  if (attachedServo && millis() - timeOfLastChange > DETACH_DELAY) {
+     myservo.detach();
+     attachedServo = false;
+  }
 } 
 
 void setRelayStatus(message_s message) {
+  myservo.attach(SERVO_DIGITAL_OUT_PIN);   
+  attachedServo = true;
   if (message.header.type==V_DIMMER) { // This could be M_ACK_VARIABLE or M_SET_VARIABLE
      int val = atoi(message.data);
-     myservo.write(SERVO_MIN + (SERVO_MAX-SERVO_MIN)/100 * val); // sets the servo position 0-180
+     myservo.write(SERVO_MAX + (SERVO_MIN-SERVO_MAX)/100 * val); // sets the servo position 0-180
      // Write some debug info
      Serial.print("Servo changed. new state: ");
      Serial.println(val);
    } else if (message.header.type==V_UP) {
      Serial.println("Servo UP command");
-     myservo.write(SERVO_MAX); 
+     myservo.write(SERVO_MIN);
      gw.sendVariable(CHILD_ID, V_DIMMER, 100);
    } else if (message.header.type==V_DOWN) {
      Serial.println("Servo DOWN command");
-     myservo.write(SERVO_MIN); 
+     myservo.write(SERVO_MAX); 
      gw.sendVariable(CHILD_ID, V_DIMMER, 0);
    } else if (message.header.type==V_STOP) {
      Serial.println("Servo STOP command");
-    // Servo is pretty fast.. don't think we have time to send a stop
-   }     
-     
+     myservo.detach();
+     attachedServo = false;
+
+   }
+   timeOfLastChange = millis();
 }
 
 
+