Autopilot v1.0 Road Sign Recognition

#include <Pixy2.h>
#include <Servo.h>
#include "CytronMotorDriver.h"

// Configure the motor driver.
CytronMD motor(PWM_DIR, 3, 2); // PWM = Pin 3, DIR = Pin 2.

Servo myservo;
// This is the main Pixy object
Pixy2 pixy;
int carSpeed;
void setup()
{
    Serial.begin(115200);
    myservo.attach(6); // specify the servo pin

    pixy.init();
    Serial.println(pixy.changeProg("line")); //change pixy to line mode
}

void loop()
{
    pixy.line.getAllFeatures(); //get line features

    if (pixy.line.barcodes) // detected road sign
    {
        int code = pixy.line.barcodes[0].m_code;
        switch (code)
        {
        case 0:             // stop
            carSpeed = 0;    
            myservo.write(70);
            break;

        case 1:             //u turn
            motor.setSpeed(40);
            myservo.write(115);
            delay(3600);
            break;

        case 3:             //turn left
            motor.setSpeed(42);
            myservo.write(25);
            delay(1800);
            break;

        case 4:
            carSpeed = 32; // go straight
            myservo.write(70);
            break;

        default:
            break;
        }
    }
    motor.setSpeed(carSpeed); // keep going straight if no road signs are detected
    myservo.write(70);
}