ATX2 for Multi Function RC Control

#include <ATX2.h>   // ATX2 Board
int ch1,ch2,ch3,ch4;
int x,y,z,a;
void setup() {
  XIO();    // ATX2 initialize
  pinMode(31, INPUT);
  pinMode(30, INPUT);
  pinMode(29, INPUT);
  pinMode(28, INPUT);
 setTextSize(4);
 glcdMode(3);
}

void loop() {
  ch1 = pulseIn(31, HIGH, 25000);
  ch2 = pulseIn(30, HIGH, 25000);
  ch3 = pulseIn(29, HIGH, 25000);
  ch4 = pulseIn(28, HIGH, 25000);
  x=map(ch1,1000,2000,-100,100);
    if(x<10&&x>-10){  y=map(ch2,1000,2000,-100,100);}
    else{ y=map(ch2,1000,2000,-50,50);}
    FD2(x+y,x-y);
    z=map(ch3,1000,2000,1,5);
    switch (z){
     case 1 : glcdFillScreen(GLCD_RED);glcd(1,1,"1");break;
     case 2 : glcdFillScreen(GLCD_YELLOW);glcd(1,1,"2");break;
     case 3 : glcdFillScreen(GLCD_GREEN);glcd(1,1,"3");break;
     case 4 : glcdFillScreen(GLCD_BLUE);glcd(1,1,"4");break;
     case 5 : glcdFillScreen(GLCD_WHITE);glcd(1,1,"5");break;
     default : glcdFillScreen(GLCD_BLACK);glcd(1,1,"0");break;

    }
    if(ch4>1700){
      if(z==1){ grip();}
      if(z==2){ rel();}
      if(z==3){motor(56,60);}
      if(z==4){servo(3,40);}
    }
    else if(ch4<1400){
      if(z==1){ grip();}
      if(z==2){ rel();}
      if(z==3){motor(56,0);}
      if(z==4){servo(3,100);}
    }
  }
  servo(1,180);  servo(2,180);
void grip(){
    servo(1,40);delay(300);
    servo(2,90);delay(300);
    servo(1,105);delay(300);
}
void rel(){
    servo(1,40);delay(300);
    servo(2,0);delay(300);
    servo(1,105);delay(300);
}

// คีบ 90
// กาง 0
// ขนานพื้น 40
// ยก 105