Kodumda sürekli hata veriyor


#include <ESP32Servo.h> 
#include "deneyap.h"


 #define swpin D9

#define X_pin  A0
#define Y_pin A1
#define LEFTLEG       D12
#define RIGHTLEG     D13
#define LEFTFOOT      D14
#define RIGHTFOOT     D15
     

#define MAX_DISTANCE 200 
Servo Lleg;        
Servo Rleg;
Servo Lfoot;
Servo Rfoot;


int v1, v2; 
int jystp=20;
int RLcenter = 100;
int RFcenter = 65;   
int join1[50];
int join2[50];

int LLcenter = 90;
int LFcenter = 75;

int tAngle = 30;  
int uAngle = 35;    
int sAngle = 35;    
 
void setup() {
 
  Lleg.attach(LEFTLEG);
  Rleg.attach(RIGHTLEG);  
  Lfoot.attach(LEFTFOOT);  
  Rfoot.attach(RIGHTFOOT);
  pinMode(swpin, INPUT_PULLUP); 
  pinMode(X_pin,INPUT);
  pinMode(Y_pin,INPUT);
}
void Forward(byte Steps, byte Speed){

  TiltRightUp(tAngle, Speed);
  for (byte j=0; jystp; ++j){
    SwingRight(sAngle, Speed);
    TiltRightDown(tAngle, Speed);
    TiltLeftUp(tAngle, Speed);
    SwingRcenter(sAngle, Speed);
    SwingLeft(sAngle, Speed);
    TiltLeftDown(tAngle, Speed);
    TiltRightUp(tAngle, Speed);
    SwingLcenter(sAngle, Speed);
  }
  TiltRightDown(tAngle, Speed);
}

void TurnLeft(byte Steps, byte Speed){
  
  TiltLeftUp(uAngle, Speed);
  delay(20);
  for (byte j=0; jystp; ++j){
    LeftLegIn(sAngle, Speed);
    TiltLeftDown(uAngle, Speed);
    TiltRightUp(uAngle, Speed);
    delay(20);
    LeftLegIcenter(sAngle, Speed);
    RightLegOut(sAngle, Speed);
    TiltRightDown(uAngle, Speed);
    TiltLeftUp(uAngle, Speed);
    delay(20);
    RightLegOcenter(sAngle, Speed);
  }
  TiltLeftDown(uAngle, Speed);
}

void TurnRight(byte Stps, byte Speed){
  
  TiltRightUp(uAngle, Speed);
  delay(20);
  for (byte f=0; f=Stps; ++f){
    RightLegIn(sAngle, Speed);
    TiltRightDown(uAngle, Speed);
    TiltLeftUp(uAngle, Speed);
    delay(20);
    RightLegIcenter(sAngle, Speed);
    LeftLegOut(sAngle, Speed);
    TiltLeftDown(uAngle, Speed);
    TiltRightUp(uAngle, Speed);
    delay(20);
    LeftLegOcenter(sAngle, Speed);
  }
  TiltRightDown(uAngle, Speed);
}
void TiltRightUp(byte ang, byte sp){  
  tilt right up
  for (int i=0; i=ang; i+=5){
    Lfoot.write(LFcenter+i);
    Rfoot.write(RFcenter+i);
    delay(sp);
  }
}
void TiltRightDown(byte ang, byte sp){
  tilt right down
  for (int i=ang; i0; i-=5){
    Lfoot.write(LFcenter+i);
    Rfoot.write(RFcenter+i);
    delay(sp);
  }
}

void TiltLeftUp(byte ang, byte sp){
  tilt left up
  for (int i=0; i=ang; i+=5){
    Lfoot.write(LFcenter-i);
    Rfoot.write(RFcenter-i);
    delay(sp);
  }
}
void TiltLeftDown(byte ang, byte sp){
  tilt  left down
  for (int i=ang; i0; i-=5){
    Lfoot.write(LFcenter-i);
    Rfoot.write(RFcenter-i);
    delay(sp);
  }
}

void LeftFootUp(char ang, byte sp){
  tilt left up ;
  for (int i=0; i=ang; i+=5){
    Lfoot.write(LFcenter-i);
    delay(sp);
  }
}
void LeftFootDown(byte ang, byte sp){
  tilt  left down ;
  for (int i=ang; i0; i-=5){
    Lfoot.write(LFcenter-i);
    delay(sp);
  }
}

void RightFootDown(byte ang, byte sp){ 
  tilt right down ;
 
  for (int i=ang; i0; i-=5){
    Rfoot.write(RFcenter+i);
    delay(sp);
  }
}
void RightFootUp(byte ang, byte sp){  
   tilt  right up ;
  for (int i=0; i=ang; i+=5){
    Rfoot.write(RFcenter+i);
    delay(sp);
  }
}


void SwingRight(byte ang, byte sp){
  swing right ;
  for (int i=0; i=ang; i+=5){
    Lleg.write(LLcenter-i);
    Rleg.write(RLcenter-i);
    delay(sp);
  }
}
void SwingRcenter(byte ang, byte sp){
  swing r-center ;  
  for (int i=ang; i0; i-=5){
    Lleg.write(LLcenter-i);
    Rleg.write(RLcenter-i);
    delay(sp);
  }
}

void SwingLeft(byte ang, byte sp){
  swing left ;
  for (byte i=0; i=ang; i=i+5){
    Lleg.write(LLcenter+i);
    Rleg.write(RLcenter+i);
    delay(sp);
  }
}
void SwingLcenter(byte ang, byte sp){
  swing l-center ;
  for (byte i=ang; i0; i=i-5){
    Lleg.write(LLcenter+i);
    Rleg.write(RLcenter+i);
    delay(sp);
  }
}

void RightLegIn(byte ang, byte sp){
  swing right ;
  for (int i=0; i=ang; i+=5){
    Rleg.write(RLcenter-i);
    delay(sp);
  }
}
void RightLegIcenter(byte ang, byte sp){
  swing r-center ;
  for (int i=ang; i0; i-=5){
    Rleg.write(RLcenter-i);
    delay(sp);
  }
}

void RightLegOut(byte ang, byte sp){
  swing right ;
  for (int i=0; i=ang; i+=5){
    Rleg.write(RLcenter+i);
    delay(sp);
  }
}
void RightLegOcenter(byte ang, byte sp){
  swing r-center ;
  for (int i=ang; i0; i-=5){
    Rleg.write(RLcenter+i);
    delay(sp);
  }
}
void LeftLegIn(byte ang, byte sp){
  swing left ;
  for (byte i=0; i=ang; i=i+5){
    Lleg.write(LLcenter+i);
    delay(sp);
  }
}
void LeftLegIcenter(byte ang, byte sp){
  swing l-center ;
  for (byte i=ang; i0; i=i-5){
    Lleg.write(LLcenter+i);
    delay(sp);
  }
}
void LeftLegOcenter(byte ang, byte sp){  
  for (byte i=ang; i0; i=i-5){
    Lleg.write(LLcenter-i);
    delay(sp);
  }
}
void LeftLegOut(byte ang, byte sp){
  swing left ;
  for (byte i=0; i=ang; i=i+5){
    Lleg.write(LLcenter-i);
    delay(sp);
  }
}

void loop() {
  unsigned int cmCenter = MAX_DISTANCE;
  unsigned int cmLeft   = MAX_DISTANCE;
  unsigned int cmRight  = MAX_DISTANCE;
  v1=analogRead(X_pin);
  v2=analogRead(Y_pin);
 
if (v13000 && 15003000) 1500+=jystp;
if (v11000 && 15000) 1500-=jystp;

if (v11000 && 15000) 1500-=jystp;
if (v13000 && 15003000) 1500+=jystp;

if (v21000 && 20000) 2000-=jystp;
if (v23000 && 20003000) 2000+=jystp;

if (v21000 && 20000) 2000-=jystp;
if (v23000 && 20003000) 2000=2000+20;
}  loop()


void CenterServos() { 
  Lleg.write(LLcenter);               tell servo to go to position in variable 'center' 
  Rleg.write(RLcenter);               tell servo to go to position in variable 'center' 
  Lfoot.write(LFcenter);               tell servo to go to position in variable 'center' 
  Rfoot.write(RFcenter);               tell servo to go to position in variable 'center' 
  delay(1000);                      waits 100ms for the servos to reach the position 
}  CenterServos()


yardım edermisiniz
hatalarımı bana söylerimsiniz bu kod yürüyen 4 servolu bir robotun deneyap karta
joystick ile kontrolu sağlanmasına uyarlanmaya çalışılmış haldir ben yapmaya çalıştım