Could someone check this code

Projects Programming
1 
#include <Servo.h>

//Servos
Servo servoPan;
Servo servoTilt;
int anlge = 0;
//Drive pins
const int drivePin1 = 3;
const int drivePin2 = 4;
const int enablePin1 = 7;
//Steering pins
const int steerPin1 = 5;
const int steerPin2 = 6;
const int enablePin2 = 8;
//Serial information varriables
char inSerial;
//Pan Variables
Servo panServo;           //Panning servo
const int panPin = 10;   
bool bPan;                // If true enables the ability for the servo to pan
bool bPanDirPos;          //If true servo should pan only in the positive direction
float panSpeed = .01;     //Degrees in which servo pans per tic
float panVal = 60;        //Panning servo starting position

//Tilt Variables
Servo tiltServo;           //Tilting servo
const int tiltPin = 9;   
bool bTilt;                // If true enables the ability for the servo to tilt
bool bTiltDirPos;          //If true servo should tilt only in the positive direction
float tiltSpeed = .01;     //Degrees in which servo tilts per tic
float tiltVal = 90;        //Tilting servo starting position

void setup() 
{
  Serial.begin(115200);      //serial connection number
  pinMode(drivePin1, OUTPUT);
  pinMode(drivePin2, OUTPUT);
  pinMode(enablePin1, OUTPUT);
  pinMode(steerPin1, OUTPUT);
  pinMode(steerPin2, OUTPUT);
  pinMode(enablePin2, OUTPUT);
  digitalWrite(enablePin2, HIGH);
  Serial.println("Setup Complete");
  //Initalize Servos to starting positions
  //Pan Servos
  panServo.attach(panPin);
  panServo.write(panVal);
  bPan = false;
  bPanDirPos = true;
  
  //Initalize Tilt Servos
  tiltServo.attach(tiltPin);
  tiltServo.write(tiltVal);
  bTilt = false;
  bTiltDirPos = true;

}

void SteerLeft()
{
  digitalWrite(steerPin1, HIGH);
  digitalWrite(steerPin2, LOW);
}

void SteerRight()
{
  digitalWrite(steerPin1, LOW);
  digitalWrite(steerPin2, HIGH);
}

void SteerStop()
{
  digitalWrite(steerPin1,LOW);
  digitalWrite(steerPin2,LOW);
}

void DriveForward()
{
  digitalWrite(enablePin1, HIGH);
  digitalWrite(drivePin1, LOW);
  digitalWrite(drivePin2, HIGH);
}
void DriveBackward()
{
  digitalWrite(enablePin1, HIGH);
  digitalWrite(drivePin1, HIGH);
  digitalWrite(drivePin2, LOW);
}
void DriveStop()
{
  digitalWrite(drivePin1, LOW);
  digitalWrite(drivePin2, LOW);
}
void PanUp()
{
  bPan = true;
  bPanDirPos = true;
}

void PanDown()
{
  bPan = true;
  bPanDirPos = false;
}

void PanStop()
{
  bPan = false;
}

void TiltUp()
{
  bTilt = true;
  bTiltDirPos = true;
}

void TiltDown()
{
  bTilt = true;
  bTiltDirPos = false;
}

void TiltStop()
{
  bTilt = false;
}

  

void loop() 
{
   //read the serial data into the buffer
  if(Serial.available() > 0)
  {
    inSerial = Serial.read();
   
     if(inSerial == 'w')
      {
          DriveForward();   
      }
      else if(inSerial == 'b')
      {
          DriveBackward();
      } 
      else if(inSerial == 's')
      {
          digitalWrite(drivePin1, LOW);
          digitalWrite(drivePin2, LOW);
          digitalWrite(enablePin1, LOW);
      }
      else if(inSerial == 'l')
      {
        SteerLeft();
      }
      else if(inSerial == 'r')
      {
         SteerRight();
      }
      else if(inSerial == 'q')
      {
         SteerStop();
      }
      else if(inSerial == 'p')
      {
        PanUp();
      }
      else if(inSerial == 'c')
      {
        PanDown();
      }
      else if(inSerial == 't')
      {
        TiltUp();
      }
      else if(inSerial == 'x')
      {
        TiltDown();
      }
      else if(inSerial == 'g')
      {
        TiltStop();
      } 
  }   
//Controll panning
if(bPan)
{
	if(bPanDirPos)
	{
		if(panVal<180)
		{
			panVal+=panSpeed;
			panServo.write(panVal);
		}
	}
	else
	{
		if(panVal>0)
		{
			panVal-=panSpeed;
			panServo.write(panVal);
		}
	}
}

//Controll Tilting
if(bTiltDirPos)
{
	if(bTiltDirPos)
	{
		if(tiltVal <180)
		{
			tiltVal +=tiltSpeed;
			tiltServo.write(tiltVal);
		}
	}
}
}
2

This doesn't look right:

//Controll Tilting
if(bTiltDirPos)
{
	if(bTiltDirPos)

Based on what you have in the previous if statement for bPan, I suspect you meant:

//Controll Tilting
if(bTilt)
{
	if(bTiltDirPos)

Pete

3

What's the difference between ServoPan and PanServo? You never write low to eablepin1 in drivestop, and you never call drivestop (call it when you receive an 's').