Receiver_board.ino

// Example By ArduinoAll
// more info https://www.arduinoall.com/b/141
#include <SoftwareSerial.h>
#include <Servo.h>
byte countByte = 0;
byte byteTemp[3];
byte tt;
int serAng = 90;
int serAngy = 90;
int ppx = 0;
Servo myservo;
Servo myservo2;
SoftwareSerial mySerial(10, 11); // TX, RX
unsigned long previousMillis = 0;
long interval = 1000;

unsigned long previousMillis2 = 0;
long interval2 = 1000;
void setup()
{
  Serial.begin(115200);
  myservo.attach(9);
  myservo2.attach(3);
  myservo.write(serAng);
  myservo2.write(serAngy);
  while (!Serial);
  mySerial.begin(115200);
  byteTemp[0] = 100;
  byteTemp[1] = 100;
  byteTemp[2] = 0;


}
void loop()
{
  unsigned long currentMillis = millis();
  unsigned long currentMillis2 = millis();
  if (mySerial.available()) {
    tt = mySerial.read();
    if (tt != 255) {
      byteTemp[countByte] = tt;
      countByte++;
      if (countByte > 3)
        countByte = 0;
    } else if (tt == 255) {
      countByte = 0;
    }
  }
  //////////////////// x
  if (byteTemp[0] > 100) { // plus x
    if (serAng > 40) {
      interval  = abs(200 - byteTemp[0]) ;
      //Serial.println(interval);
      if (currentMillis - previousMillis >= interval) {
        previousMillis = currentMillis;
        //Serial.println("AB");
        serAng--;
      }
      //myservo.write(serAng);
      // Serial.println(byteTemp[0]);
    }
  }
  else if (byteTemp[0] < 100 && byteTemp[0] >= 0) {
    if (serAng < 145) {
      interval  = (abs(byteTemp[0]) + 0)   ;
      //Serial.println(interval);
      if (currentMillis - previousMillis >= interval) {
        previousMillis = currentMillis;
        //Serial.println("AB");
        serAng++;
      }
      //myservo.write(serAng);
      // Serial.println(byteTemp[0]);
    }
  }
  /////////////////////// y
  if (byteTemp[1] > 100) { // plus x
    if (serAngy < 140) {
      interval2  = abs(200 - byteTemp[1]) ;
      //Serial.println(interval2);
      if (currentMillis2 - previousMillis2 >= interval2) {
        previousMillis2 = currentMillis2;
        //Serial.println("AB");
        serAngy++;
      }
      //myservo.write(serAng);
      // Serial.println(byteTemp[0]);
    }
  }
  else if (byteTemp[1] < 100 && byteTemp[1] >= 0) {
    if (serAngy > 50) {
      interval2  = (abs(byteTemp[1]) + 0)   ;
      //Serial.println(interval2);
      if (currentMillis2 - previousMillis2 >= interval2) {
        previousMillis2 = currentMillis2;
        //Serial.println("AB");
        serAngy--;
      }
      //myservo.write(serAng);
      // Serial.println(byteTemp[0]);
    }
  }
  myservo.write(serAng); //x
  myservo2.write(serAngy);//y
  //Serial.println(serAngy);
  /*
     Serial.print("ang : ");
      Serial.print(serAng);
      Serial.print(" x: ");
      Serial.print(byteTemp[0]);
      Serial.print(" y: ");
      Serial.print(byteTemp[1]);
      Serial.print(" speed: ");
      Serial.println(byteTemp[2]);*/

}