Laser turret version 2 with joystick

1
2#include<Servo.h>
3 Servo s1,s2;  
4 
5void setup() {
6  s1.attach(10);  
7  s2.attach(11);
8  pinMode(12,OUTPUT); 
9  pinMode(2,INPUT);   
10  digitalWrite(2,HIGH);
11  Serial.begin(9600);  
12 
13  
14}
15int p1=90,p2=90;   
16void loop() 
17{
18  
19  int t1=0,t2=0;  
20  int a=analogRead(A0); 
21  int b=analogRead(A1);
22
23  
24  if(a<=450 or a>=550)
25  {
26    t1=map(a,0,1023,10,-10);
27    p1=change(p1,t1);  
28   
29  }
30  if(b<=450 or b>=550)
31  {
32    t2=map(b,0,1023,-10,10);
33    p2=change(p2,t2);  
34  }
35   s1.write(p1); 
36   s2.write(p2);
37  if(digitalRead(2)==LOW)
38  digitalWrite(12,HIGH);
39  else
40  digitalWrite(12,LOW);
41  
42  
43  Serial.print("s1:");
44  Serial.print(a);
45  Serial.print("\	");
46  Serial.print("s2:");
47  Serial.print(b);
48  Serial.print("\	");
49  Serial.print("t1:");
50  Serial.print(t1);
51  Serial.print("\	");
52  Serial.print("t2:");
53  Serial.print(t2);
54  Serial.print("\	");
55  Serial.print("pos1: ");
56  Serial.print(p1);
57  Serial.print("pos2: ");
58  Serial.println(p2);
59  delay(70);          
60}
61
62int  change(int pos,int t)
63{
64    pos=pos+t;                   
65    if (pos>180)               
66    pos=180;
67    if(pos<0)                  
68    pos=0;
69    return(pos);              
70}