Simultaneous but different servo sweeps with four servos?

Hi I want to run a sweep command for 4 servos off of one Arduino Uno simultaneously, but each at different rates.

Currently I have figured out how to run 4 servos simultaneously but at the same rate, and how to run each at a different rate, but not simultaneously.

Rate will only come by incrementing the positions at different rates.

I've written code to do this in the past, by treating the problem like drawing straight lines on a graph. The slope of the line is the rate, the X axis is time, and the Y axis is position. Then I used an old computer algorithm, for drawing lines, called "Bresenhams algorithm" to do the "drawing" - creating position step changes at the right rate.

See if you can make sense of the algorithm described in the link - its quite easy to implement, and you just need to put it in a loop, where you will increment a counter ('X') every time period, and use that to work your 'Y" values for each of your 4 servos.