Access control test bot for badging automation

1#include<Servo.h>
2Servo servo1; //small servo   0 close, 180 open 
3Servo servo2; //big servo  0 left side, 180 right side
4int count=0;
5const int dirPin = 2;  // Direction
6const int stepPin = 3; // Step
7 
8// Motor steps per rotation
9const int STEPS_PER_REV = 200;
10
11void setup() {
12
13  // Setup the pins as Outputs
14  pinMode(stepPin,OUTPUT); 
15  pinMode(dirPin,OUTPUT);
16  servo1.attach(6); //small motor
17  servo2.attach(5); //big motor
18
19}
20
21////////////////Helper methods///////////////
22
23void pickAndReadCard()
24{
25  
26   servo1.write(180); // Open claw 
27   delay(1000);   
28   servo2.write(0);   //Turn towards card
29   delay(1000);
30   servo1.write(0);   //Closing Claw
31   delay(1000);
32   servo2.write(180);  //Turn towards reader
33}
34
35void move(int nDirection, float nSteps){
36
37//LOW is forward and HIGH is backward
38 digitalWrite(dirPin,nDirection); 
39  
40  // Spin motor one rotation slowly
41  for(int x = 0; x < STEPS_PER_REV * nSteps; x++) {
42    digitalWrite(stepPin,HIGH); 
43    delayMicroseconds(2000); 
44    digitalWrite(stepPin,LOW); 
45    delayMicroseconds(2000);
46  }
47}
48
49void releaseCard()
50{
51  servo2.write(0); //towards Card holder
52   delay(2000);
53   servo1.write(180); //opening claw top release the card.
54   delay(1000);
55   servo2.write(180); //Taking to reader side
56   delay(1000);
57   servo1.write(0); //Close claw 
58}
59
60///////////////////////////Main Loop //////////
61void loop() {
62
63if (count<1) {// Set motor direction anti-clockwise
64   
65   move(LOW, 1.7); //move forward by 2 steps
66     
67   pickAndReadCard();
68   
69   delay(3000);
70   
71   releaseCard();
72
73   move(LOW,0.9);
74
75   pickAndReadCard();
76
77   move(HIGH,0.9);
78
79   
80   servo2.write(180);
81   delay(3000);
82 
83   move(LOW,0.9);
84   
85   releaseCard();
86  
87   move(LOW,0.9);
88
89   pickAndReadCard();
90
91   delay(2000);
92   
93   move(HIGH,1.9);
94
95   servo2.write(180);
96   delay(3000);
97
98   move(LOW,1.9);
99
100   releaseCard();
101
102   move(LOW,0.9);
103
104   pickAndReadCard();
105
106   delay(2000);
107
108   move(HIGH,2.9);
109
110   servo2.write(180);
111   delay(3000);
112
113   move(LOW,2.9);
114
115   releaseCard();
116
117   move(HIGH,4.5);
118   
119   count++;
120
121}
122   
123
124}