Camera Follower - 180 degrees

1#include <Servo.h>
2
3#define SERVO 10
4#define SERVOY 9
5Servo  S;
6Servo SY;
7
8int pos = 90;
9int counter = 90;
10
11int posY = 70;
12int  counterY = 70;
13
14char comando;
15
16void setup() {
17  Serial.begin(9600);
18  
19 S.attach(SERVO);
20 S.write(90);
21
22 SY.attach(SERVOY);
23 SY.write(70);
24  
25}
26
27void loop() {
28
29  if (!Serial.available()) comando = 'Z';
30  
31  while (Serial.available()) {
32    comando = Serial.read();
33  }
34
35
36  if (comando == 'A') {
37   direita();
38   counter = pos;
39  }
40
41 else  if (comando == 'B') {
42  esquerda();
43  counter = pos;
44  }
45
46  else  if (comando == 'C') {
47   cima();
48   counterY = posY;
49  }
50
51 else if  (comando == 'D') {
52  baixo();
53  counterY = posY;
54  }
55}
56 
57
58
59void  esquerda() {
60 for(pos; pos<counter+1; pos++)
61 {  
62    S.write(pos);
63    delay(50);
64 }
65 delay(20);
66}
67
68
69void direita() {
70  for(pos;  pos>=counter-1; pos--){
71    S.write(pos);
72    delay(50);
73 }
74 delay(20);
75}
76
77
78void  cima() {
79 for(posY; posY<counterY+1; posY++)
80 {  
81    SY.write(posY);
82    delay(50);
83 }
84 delay(20);
85}
86
87
88void baixo() {
89  for(posY;  posY>=counterY-1; posY--){
90    SY.write(posY);
91    delay(50);
92 }
93 delay(20);
94}