#include <Servo.h>
Servo  horizontal; 
int servoh=180;
int servohLimitHigh=175;
int servohLimitLow=5;

Servo  vertical;

int servov=45;
int servovLimitHigh=60;
int servovLimitLow=1;

int ldrlt=A0;
int ldrrt=A1;
int ldrld=A2;
int ldrrd=A3;

void setup() {
  // put your setup code here, to run once:
  horizontal.attach(9);
  vertical.attach(10);
  horizontal.write(180);
  vertical.write(45);
  delay(2500);

}

void loop() {
  // put your main code here, to run repeatedly:
int lt = analogRead(ldrlt); 
int rt = analogRead(ldrrt);
int ld = analogRead(ldrld); 
int rd = analogRead(ldrrd); 
int dtime = 10; 
int tol = 90; 
int avt = (lt + rt) / 2; 
int avd = (ld + rd) / 2; 
int avl = (lt + ld) / 2; 
int avr = (rt + rd) / 2; 
int dvert = avt - avd; 
int dhoriz = avl - avr;
if (-1*tol > dvert || dvert > tol) 
 {
 if (avt > avd)
 {
 servov = ++servov;
 if (servov > servovLimitHigh)
 {servov = servovLimitHigh;}
 }
 else if (avt < avd)
 {servov= --servov;
 if (servov < servovLimitLow)
 { servov = servovLimitLow;}
 }
 vertical.write(servov);
 }
if (-1*tol > dhoriz || dhoriz > tol) // check if the diffirence is in the tolerance else change horizontal angle
 {
 if (avl > avr)
 {
 servoh = --servoh;
 if (servoh < servohLimitLow)
 {
 servoh = servohLimitLow;
 }
 }
 else if (avl < avr)
 {
 servoh = ++servoh;
 if (servoh > servohLimitHigh)
 {
 servoh = servohLimitHigh;
 }
 }
 else if (avl = avr)
 {
 delay(5000);
 }
 horizontal.write(servoh);
 }
 delay(dtime);

}