Computer Vision + Mechanical Arm

1#include <Servo.h>
2#define pinServ1 11
3#define pinServ2 10
4#define  pinServ3 9
5#define pinServ4 8
6
7Servo serv1 , serv2 , serv3 , serv4;
8
9int  motor1 = 90 ;
10int motor2 = 52 ;
11int motor3 = 67 ;
12int motor4 = 0  ;
13
14
15char  buf;
16
17void setup() {
18  Serial.begin(9600);
19
20  serv1.attach(pinServ1);
21  serv2.attach(pinServ2);
22  serv3.attach(pinServ3);
23  serv4.attach(pinServ4);
24
25  
26}
27
28void loop() {
29  while(Serial.available() > 0)
30  {
31    buf  = Serial.read();
32
33      if(buf == 'A' && motor1 < 170){
34        serv1.write(motor1  += 1);
35        serv1.detach();
36      }
37    
38       if(buf == 'B' &&  motor1 > 10){
39        serv1.write(motor1 -= 1);
40        serv1.detach();
41      }
42  
43      if(buf == 'C' && motor2 < 170){
44        serv2.write(motor2  += 1);
45        serv2.detach();
46      }
47    
48       if(buf == 'D' &&  motor2 > 10){
49        serv2.write(motor2 -= 1);
50        serv2.detach();
51      }
52  
53      if(buf == 'E' && motor3 < 170){
54        serv3.write(motor3  += 1);
55        serv3.detach();
56      }
57    
58       if(buf == 'F' &&  motor3 < 10){
59        serv3.write(motor3 -= 1);
60        serv3.detach();
61      }
62      if(buf == 'G' && motor4 < 170){
63        serv4.write(motor4 +=  1);
64        serv4.detach();
65      }
66    
67       if(buf == 'H' && motor4  < 10){
68        serv4.write(motor4 -= 1);
69        serv4.detach();
70      }
71    delay(15); 
72
73  }
74
75}