#include<Servo.h>
#include <Stepper.h>

Servo FS90;
byte FS90Pin = 9;
byte servoPin = A0;
byte basePin = A1;
byte epaulePin = A2;
byte brasPin = A3;
int servo;
int base;
int epaule;
int bras;

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 11, 13, 12, 10);
int stepCount = 0;  // number of steps the motor has taken

void setup() {
  FS90.attach(FS90Pin, 500, 2500);
  Serial.begin(9600);
}

void loop() {
  servo = analogRead(A0);
  servo = map(servo, 0, 1023, 0, 180); //ou Servo = Servo*0.176
  base = analogRead(A1);
  base = map(base, 0, 1023, -100, 100);
  myStepper.setSpeed(abs(base));
  if (base>0) {
  myStepper.step(stepsPerRevolution/10);
  }
  else if ((base<0)){
  myStepper.step(-stepsPerRevolution/10);
  }
  else{
  }
  Serial.println("servo=   base= ");
  Serial.print(servo);
  Serial.print("      ");
  Serial.println(base);
  FS90.write(servo);
  //delay(100);
}