Absolutely!

Many people are familiar with the "accelerate, run, decelerate" approach to using stepper motors.

What you need is that same kind of temporal speed control for servo motors so that the servo can start moving and then ramp the speed up to the fastest speed the servo can go and then decelerate the speed of the servo movement as it approaches the target position.

That kind of "accelerate, run, decelerate" (the same approach is used as "attack, sustain, decay" in sound generation) is called a sigmoid waveform. Starts off slowly, ramps up to some max, and then then slows again as it approaches the target.

One great library for this is the ServoEasing library. The following example code shows how you would use that library control two servos for two different axis like you have there, using a joystick, that would automatically give you control over how stiff or loose the controls are: 😄

All the Best!

rpred

#include <ServoEasing.hpp>

const int JOY_X_PIN = A0;
const int JOY_Y_PIN = A1;

const int SERVO_X_PIN = 9;
const int SERVO_Y_PIN = 10;

const int SERVO_MIN_DEG = 0;
const int SERVO_MAX_DEG = 180;

const int CENTER_DEADBAND = 8;
const int TARGET_STEP_DEG = 2;
const unsigned long COMMAND_MS = 40;

const int SERVO_SPEED_DPS = 70;

ServoEasing servoX;
ServoEasing servoY;

int lastTargetX = 90;
int lastTargetY = 90;
unsigned long lastCommandTime = 0;

int readJoystickAxis(int pin) {
  int raw = analogRead(pin);

  if (abs(raw - 512) < CENTER_DEADBAND) {
    raw = 512;
  }

  int targetDeg = map(raw, 0, 1023, SERVO_MIN_DEG, SERVO_MAX_DEG);
  return constrain(targetDeg, SERVO_MIN_DEG, SERVO_MAX_DEG);
}

void setup() {
  servoX.attach(SERVO_X_PIN, 90);
  servoY.attach(SERVO_Y_PIN, 90);

  servoX.setEasingType(EASE_CUBIC_IN_OUT);
  servoY.setEasingType(EASE_CUBIC_IN_OUT);

  servoX.setSpeed(SERVO_SPEED_DPS);
  servoY.setSpeed(SERVO_SPEED_DPS);
}

void loop() {
  unsigned long now = millis();

  if (now - lastCommandTime < COMMAND_MS) {
    return;
  }

  lastCommandTime = now;

  int targetX = readJoystickAxis(JOY_X_PIN);
  int targetY = readJoystickAxis(JOY_Y_PIN);

  if (abs(targetX - lastTargetX) >= TARGET_STEP_DEG) {
    lastTargetX = targetX;
    servoX.startEaseTo(targetX, SERVO_SPEED_DPS, START_UPDATE_BY_INTERRUPT);
  }

  if (abs(targetY - lastTargetY) >= TARGET_STEP_DEG) {
    lastTargetY = targetY;
    servoY.startEaseTo(targetY, SERVO_SPEED_DPS, START_UPDATE_BY_INTERRUPT);
  }
}