Two servos at once with millis

Projects Programming
4

OK, I'm trying to replace those delays with millis but I am lost. I hope someone can help set me in the right direction (some sample code would be really helpful).

Here's my somewhat revised code:

#include <Servo.h>
Servo leftServo;
Servo rightServo;

int leftServoUpPos = 130; //CCW
int leftServoDownPos = 90; //CW
int waitLeftServoUp = 555;
int waitLeftServoDown = 555;

int rightServoUpPos = 60; //CCW
int rightServoDownPos = 100; //CW
int waitRightServoUp = 555;
int waitRightServoDown = 555;

unsigned long currentMillis = 0;    // stores the value of millis() in each iteration of loop()
unsigned long previousLeftMillis = 0;
unsigned long previousRightMillis = 0;
unsigned long previousLeftServoMillis = 0; // the time when the servo was last moved
const long leftServoInterval = 2000;   //activate left servo every 2 seconds
const long rightServoInterval = 3000;  //activate right servo every 3 seconds

unsigned long leftServoTimer;
unsigned long rightServoTimer;

void setup() {
}

void loop() {
  currentMillis = millis();
  leftServoMove();
  //rightServoMove();
}


void leftServoMove() {
  leftServo.attach(9);
  if (currentMillis - previousLeftServoMillis >= leftServoInterval) {
    previousLeftServoMillis = leftServoInterval;
    leftServo.write(leftServoDownPos);
    // delay(waitLeftServoDown);
    leftServo.write(leftServoUpPos);
    // delay(waitLeftServoUp);
    leftServo.write(leftServoDownPos);
    //  delay(waitLeftServoDown);
    leftServoTimer = millis();
  }
}


void rightServoMove() {
  rightServo.attach(10);
  rightServo.write(rightServoDownPos);
  // delay(waitRightServoDown);
  rightServo.write(rightServoUpPos);
  // delay(waitRightServoUp);
  rightServo.write(rightServoDownPos);
  // delay(waitRightServoDown);
  rightServo.detach();
  rightServoTimer = millis();
}