Problem with combining servo motor with brushed dc motor 2relay arduino module

Projects Programming
1

Hi!, I am making a solar tracker, that uses 4 photoresistors for detecting sunlight.
servo motor is used for vertical movement of the panel.
Direction of rotation of DC motor with 2 relay and Arduino is used for horizontal movement.

I am using Arduino uno.

This is the example I used for code of vertical movement for servo

And this example for horizontal movement of dc motor

https://robojax.com/learn/arduino/?vid=robojax_2_relay_motor

here is my code

int topleft;
int topright;
int downleft;
int downright;
int waittime = 1; 
int relay1 = 2; 
int relay2 = 3;


void setup() {
  
pinMode(10, OUTPUT);  
pinMode(relay1, OUTPUT); 
pinMode(relay2, OUTPUT); 


  TCCR1A = 0;   
  TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM11);
  TCCR1B = 0;
  TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
  ICR1 = 40000;
  OCR1A = 3000;
  OCR1B = 3600;
}

void loop() {
  topleft = analogRead(A0);
  topright = analogRead(A1);
  downleft = analogRead(A2);
  downright = analogRead(A3);

  if (topleft > topright) {
    digitalWrite(relay1, LOW);// turn relay 1 ON
    digitalWrite(relay2, HIGH); //turn relay 2 off
	delay(waittime);
   
  }
  if (downleft > downright) {
    digitalWrite(relay1, LOW);// turn relay 1 ON
    digitalWrite(relay2, HIGH); //turn relay 2 off
	delay(waittime);
  }

  if (topleft < topright) {
    digitalWrite(relay1, HIGH);// turn relay 1 OFF
    digitalWrite(relay2, LOW);// turn relay 2 ON 
	delay(waittime);
  }
  if (downleft < downright) {
    digitalWrite(relay1, HIGH);// turn relay 1 OFF
    digitalWrite(relay2, LOW);// turn relay 2 ON 
        delay(waittime);
  }
  if (downleft == downright && topleft == topright){
    digitalWrite(relay1, HIGH);// turn relay 1 OFF
    digitalWrite(relay2, HIGH);// turn relay 2 OFF
        delay(waittime);



  if (topleft > downleft) {
    OCR1B = OCR1B - 1;
    delay(waittime);
  }
  if (topright > downright) {
    OCR1B = OCR1B - 1;
    delay(waittime);
  }
  if (topleft < downleft) {
    OCR1B = OCR1B + 1;
    delay(waittime);
  }
  if (topright < downright) {
    OCR1B = OCR1B + 1;
    delay(waittime);
  }
  if (OCR1B > 4200) {    
    OCR1B = 4200;
  }
  if (OCR1B < 3000) {    
    OCR1B = 3000;
  }
}
}

Can this be detected by 2relay module, or this will only work with servo. I am not sure what these mean, I am a complete beginner in this.

TCCR1A = 0;
TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM11);
TCCR1B = 0;
TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
ICR1 = 40000;
OCR1A = 3000;
OCR1B = 3600;

Can you please help me with my code?

What should I add or delete ?

2

If you've got everything wired up correctly then it could work, but the code is not novice-friendly.

Ditch the code from the instructable and use the standard Servo library.
Get the vertical axis working on its own using just two sensors, then do the same for the rotation.

Servo library details:

Report back when you've got the servo working or have any problems using the library.