Project - Remote Controlled Boat

#include <SoftwareSerial.h>
#include <XBee.h>
#include <Servo.h>

SoftwareSerial XBee(3, 2); //RX TX

Servo rudder;

int pos=100;
int data=0;

void setup() {
  rudder.attach(4);
  pinMode(5, OUTPUT); // fan motor
  Serial.begin(9600);
  XBee.begin(9600);
}

void loop() {
  if(XBee.available())
  {
    data = XBee.read();
    Serial.print(data);
  }
  if (data == 119) //Dec for "w"
  {
    digitalWrite(5, HIGH); // boat forward  
  }
  else if (data == 97) //Dec for "a"
  {
//    for (pos = 60; pos <= 150; pos += 1) { // goes from 0 degrees to 180 degrees
//      // in steps of 1 degree
//      rudder.write(pos);              // tell servo to go to position in variable 'pos'
//      delay(15);                       // waits 15ms for the servo to reach the position
//    }
    if (pos < 150)
    {
      pos += 1;
      rudder.write(pos); 
      //delay(100);
    }
  }
  else if (data == 115) //Dec for "s"
  {
    digitalWrite(5, LOW); // boat Stop
  }    
  else if (data == 100) //Dec for "d"
  {
//    for (pos = 150; pos >= 60; pos -= 1) { // goes from 180 degrees to 0 degrees
//      rudder.write(pos);              // tell servo to go to position in variable 'pos'
//      delay(15);                       // waits 15ms for the servo to reach the position
//    }
    if (pos > 60)
    {
      pos -= 1;
      rudder.write(pos); 
      //delay(100);
    }
  }
  else
  {
    digitalWrite(5, LOW); // boat Stop
  }
  
  data = 0;
}

#include <XBee.h>
#include <SoftwareSerial.h>
int analogPin = A0; // potentiometer wiper (middle terminal) connected to analog pin 3
int potVal = 0;  // variable to store the value read
int toggleGoPin = 4; //D4
int goPinVal = 0;
int tempGoPinVal = LOW;
int potToRudderVal = 0;
int tempPotPinVal = 0;

double POT_TO_MOTOR_CONVERTER = 8.133333;

SoftwareSerial XBee(3, 2); //RX TX

void setup() {
  // put your setup code here, to run once:
  //732 seems to be the max reading 
   Serial.begin(9600);
   XBee.begin(9600);

   pinMode(toggleGoPin, INPUT); // D4
   pinMode(analogPin, INPUT); // A0
}

void loop() {
  // put your main code here, to run repeatedly:
  Serial.println(potVal);          // debug value

  potVal = analogRead(analogPin);  // read the potentiometer from the remote
  goPinVal = digitalRead(toggleGoPin); // read the toggle lever position (limit switch) on remote
  //go motor stuff
  if ((goPinVal != tempGoPinVal)&&(goPinVal == HIGH)){
    XBee.write(2);
  }
  if ((goPinVal != tempGoPinVal)&&(goPinVal == LOW)){
    XBee.write(1);
  }
  if (goPinVal == HIGH){
    tempGoPinVal = HIGH;
  }
  else if (goPinVal == LOW){
    tempGoPinVal = LOW;
  }
  ///////////////////////////////////////////////////////
  //rudder stuff
  if ((potVal != tempPotPinVal)&&(potVal != tempPotPinVal+1)&&(potVal != tempPotPinVal-1)){
    potToRudderVal = 150-(potVal/8.13333);
    XBee.write(potToRudderVal);
    tempPotPinVal = potVal;
  }


  delay(50); // input delay to prevent spam
}