#include <Servo.h>
#include <SoftwareServo.h>
Servo right;
Servo left;
SoftwareServo head;
int pos = 0;
char val;

void setup() {
  right.attach(9);
  left.attach(10);
  head.attach(11);
  Serial.begin(9600);
}

void loop() {

  if( Serial.available() )
  {
    val = Serial.read();
  if( val == 'a' )
  {
    left.write(135);
    right.write(135);
  }
  if( val == 'd' )
  {
    left.write(45);
    right.write(45);
  }
  if( val == 'w' )
  {
    left.write(45);
    right.write(135);
  }
  if( val == 's' )
  {
    left.write(135);
    right.write(45);
  }
  if( val == ' ' )
  {
    left.write(96);
    right.write(96);
  }
  if( val == 'e' )
  {
    for(pos = 0; pos < 180; pos += 3)
  {
    head.write(pos);
    delay(15); 
    SoftwareServo::refresh();
  } 
  }
   if( val == 'q' )
  {
    for(pos = 180; pos >=1; pos -= 3)
  {
    head.write(pos);
    delay(15); 
    SoftwareServo::refresh();
  } 
  }
   if( val == 'r' )
  {
    for(pos = 0; pos < 90; pos += 3)
  {
    head.write(pos);
    delay(15); 
    SoftwareServo::refresh();
  } 
  }
  delay(1);
  }
}