2 servo motor control

accelerometer 2 servo control

//  ADXL345 ivmeölçer  2 Servo Motor kontrolü 
#include <Wire.h>
#include <Servo.h> 
Servo myservox; 
Servo myservoy; 
#define DEVICE (0x53) 
#define TO_READ (6)  
#define TRIGGER 16    
byte buff[TO_READ] ; 
int i;

void setup()
{
  pinMode(TRIGGER,OUTPUT);
  digitalWrite(TRIGGER,HIGH);
  Wire.begin();       
  myservox.attach(9);  
  myservoy.attach(10);  
  myservox.write(90); 
  delay(25);           
  myservoy.write(90);  
  delay(25);         

  writeTo(DEVICE, 0x2D, 0);      
  writeTo(DEVICE, 0x2D, 16);
  writeTo(DEVICE, 0x2D, 8);
}

void loop()
{
  int regAddress = 0x32;   
  int x, y, z;
  digitalWrite(TRIGGER,LOW);
  delay(10);
  digitalWrite(TRIGGER,HIGH); 
  readFrom(DEVICE, regAddress, TO_READ, buff);
 
  x=0;
  y=0;
  z=0;
  for(i=1;i<=5;i++){
    x += (((int)buff[1]) << 8) | buff[0];   
    y += (((int)buff[3])<< 8) | buff[2];
    z += (((int)buff[5]) << 8) | buff[4];
    delay(10);
  }
  x/=5;
  y/=5;
  z/=5;
  if(x<-255)x= -255; else if (x>255)x=255;
  if(y<-255)y= -255; else if (y>255)y=255;
  x=map(x, -255, 255, 0, 180);  
  y=map(y, -255, 255, 0, 180); 
  myservox.write(x);          
  delay(25); 
  myservoy.write(180-y);           
  delay(25); 
  
  delay(200);
}


void writeTo(int device, byte address, byte val) {
  Wire.beginTransmission(device); 
  Wire.write(address);     
  Wire.write(val);      
  Wire.endTransmission(); 
}


void readFrom(int device, byte address, int num, byte buff[]) {
  Wire.beginTransmission(device); 
  Wire.write(address);    
  Wire.endTransmission();

    Wire.beginTransmission(device); 
  Wire.requestFrom(device, num);    

  int i = 0;
  while(Wire.available())    
  { 
    buff[i] = Wire.read(); 
    i++;
  }
  Wire.endTransmission(); 
}