Joystick Controlled Robot Arm

#include <Servo.h>

Servo myservo1;  // gripper //
Servo myservo2; // rotating base //
Servo myservo3; // arm motor right //
Servo myservo4; // arm motor left //


int pos = 0;    // variable to store the servo position
int horz = analogRead(A2);
int vert = analogRead(A1);
int push = analogRead(A0);
bool gripperState = true;
bool gripperStateLast = true;
int setPointvert;
int setPointhorz;
int i = 0;
int gripperOpen = 100;
int gripperClose = 65;
int forwardStop = 110;
int backwardStop = 15;
int leftStop = 30;
int rightStop = 150;

void setup() {
  myservo1.attach(3);  // control for gripper
  myservo2.attach(5); // control for base //
  myservo3.attach(6); // control for right arm //
  myservo4.attach(9); // control for left arm //
  pinMode(A0, INPUT_PULLUP);
  pinMode(5, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(3, OUTPUT);
  Serial.begin(9600);
}

void loop() {
  push = analogRead(A0);
  //Serial.println("push " + String(push));
  if (push < 100) {
    myservo1.attach(3);
    myservo1.write(gripperOpen)
  }
  else {
    myservo1.attach(3);
    myservo1.write(gripperClose);     
  }

  //horizontal movement control//
  horz = analogRead(A2); // base rotate response to joystick
  // setPointhorz = map(horz, 0, 1023, rightStop, leftStop);
  // Serial.println("horz " + String(horz) + "//" + "leftStop " + String(leftStop) + "setPointhorz " + String(setPointhorz));
  if (horz > 950) {
    rightRotate();
  }
  else {
    if (horz < 100) {
      leftRotate();
    }
    else {
      if ((horz >= 100 && horz <= 490) || (horz <= 950 && horz >= 515)) {
        toCenter();
      }
    }
  }

  // vertical arm movement//
  vert = analogRead(A1); // base rotate response to joystick
  if (vert > 970) {
    forward();
  }
  else if (vert < 400) {
    backward();
  }
  else {
    myservo3.write(setPointvert);
  }
}

// forward movement control//
void forward() {
  myservo3.attach(6);
  pos = myservo3.read();
  if (pos != forwardStop) {
    for (setPointvert = pos; setPointvert <= forwardStop; setPointvert += 1) {
      myservo3.write(setPointvert);
      //Serial.println("setPointvert " + String(setPointvert) + "//" + "vert " + String(vert));
      delay(20);
      if (setPointvert > 60 && setPointvert < 80) {
        myservo1.write(gripperOpen);
      }
      if (setPointvert == forwardStop) {
        setPointvert = myservo3.read();
        myservo3.detach();
      }
    }
  }
  else {
    myservo3.write(pos);
  }
}

// backward movement control//
void backward() {
  myservo3.attach(6);
  pos = myservo3.read();
  if (pos != backwardStop) {
    for (setPointvert = pos; setPointvert >= backwardStop; setPointvert -= 1) {
      myservo3.write(setPointvert);
      //Serial.println("setPointvert " + String(setPointvert) + "//" + "vert " + String(vert));
      delay(20);
      if (setPointvert == backwardStop) {
        myservo3.detach();
      }
    }
  }
  else {
    myservo3.write(pos);
  }
}

// center to right movement control//
void rightRotate() {
  myservo2.attach(5);
  delay(10);
  pos = myservo2.read();
  if (pos != rightStop) {
    for (setPointhorz = pos; setPointhorz <= rightStop; setPointhorz += 1) {
      myservo2.write(setPointhorz);
      delay(20);
      if (setPointhorz == rightStop) {
        myservo2.detach();
      }
    }
  }
  else {
    myservo2.write(pos);
  }
}

// center to left movement control//
void leftRotate() {
  myservo2.attach(5);
  pos = myservo2.read();
  if (pos != leftStop) {
    for (setPointhorz = pos; setPointhorz >= leftStop; setPointhorz -= 1) {
      myservo2.write(setPointhorz);
      delay(20);
      //Serial.println("setPointhorz " + String(setPointhorz) + "//" + "pos " + String(pos));
      if (setPointhorz == leftStop) {
        myservo2.detach();
      }
    }
  }
  else {
    myservo2.write(pos);
  }
}

// left to center movement control//
void toCenter() {
  myservo2.attach(5);
  pos = myservo2.read();
  if (pos > 90 && (horz >= 100 && horz <= 480)) {
    for (setPointhorz = pos; setPointhorz >= 90; setPointhorz -= 1) {
      myservo2.write(setPointhorz);
      delay(20);
      if (setPointhorz == 90) {
        myservo2.detach();
      }
    }
  }
  else {
    if (pos < 90 && (horz <= 950 && horz >= 520) ) {
      for (setPointhorz = pos; setPointhorz <= 90; setPointhorz += 1) {
        myservo2.write(setPointhorz);
        delay(20);
        if (setPointhorz == 90) {
          myservo2.detach();
        }
      }
    }
  }
}