 
 int moduleJob;
 
-int moveServo(int servo, int from, int to, int s) {
-  if (to > from) {
-    for (uint16_t pulselen = from; pulselen < to; pulselen++) {
+int moveServo(int servo, int from, int to, int s)
+{
+  if (to > from)
+  {
+    for (uint16_t pulselen = from; pulselen < to; pulselen++)
+    {
       pwm.setPWM(servo, 0, pulselen);
       delay(s);
     }
-  } else {
-     for (uint16_t pulselen = from; pulselen > to; pulselen--) {
+  }
+  else
+  {
+    for (uint16_t pulselen = from; pulselen > to; pulselen--)
+    {
       pwm.setPWM(servo, 0, pulselen);
       delay(s);
     }

  return to;
}

int moveServo(int servo, int from, int to) {
  return moveServo(servo, from, to, speed);
}

void releaseServos() {
  pwm.setPWM(SERVO_TURN, 0, 0);
  pwm.setPWM(SERVO_GRAB, 0, 0);
  pwm.setPWM(SERVO_LIFT, 0, 0);
}

void setup() {
  initBT();
  pwm = Adafruit_PWMServoDriver(0x40);
  pwm.begin();
  pwm.setPWMFreq(50);
  pwm.setPWM(SERVO_TURN, 0, posTurn);

      moduleJob = JOB_IDLE;
      sendBT("success(1)");
    }
    if (moduleJob == JOB_PICKUP_BACK || moduleJob == JOB_PICKUP_FRONT)
    {
      posGrab = moveServo(SERVO_GRAB, posGrab, GRAB_OPEN);
      if (moduleJob == JOB_PICKUP_BACK)
      {
        posTurn = moveServo(SERVO_TURN, posTurn, TURN_BACK);
      }
      else
      {
        posTurn = moveServo(SERVO_TURN, posTurn, TURN_FRONT);
      }
      posLift = moveServo(SERVO_LIFT, posLift, LIFT_DOWN_PICKUP);
