#include <Servo.h>
Servo qservo;
Servo wservo;
 int q=130,w=180,e=10,r=50,t=40; 
 int Pins[] = {2, 3, 4, 5, 6, 7,8,9,10,11,12,13}; 
 int x1,y1;
 long leftcount,rightcount;
 bool left,right;
 int  gap;
void setup() 
{

  w=190;
  qservo.attach(9);
  wservo.attach(10);
  
   qservo.write(q);
   wservo.write(w);

   leftcount=0;
   rightcount=0;

   left=0;
   right=0;
  
  Serial.begin(9600);
 for(int thisPin=0;thisPin < 12; thisPin++) 
 {
  pinMode(Pins[thisPin], OUTPUT);
  pinMode(22,INPUT);
  pinMode(23,INPUT);
 }
}
void loop() {

   qservo.write(q);
   wservo.write(w);

    x1 = digitalRead(22);
    y1 = digitalRead(23);

     if(x1==1)
    {
      left=1;
      }
    if (y1==1)
    {
      right=1;
      } 
    if(x1==0 && left==1)
    {
      left=0;
      leftcount++;
      }
     if(y1==0 && right==1)
    {
      right=0;
      rightcount++;
      } 
         gap=leftcount-rightcount; 
         
    if(gap>5)
    {
      q=60;
      w=70;
      }
    if((rightcount-leftcount)>5)       
    {
      q=130;
      w=70;  
        }
    if(gap<=5&& gap>=-5){
      q=85-gap*10;
      }

      if(gap>15||gap<-10)
      {
        setup();
        }

}