GPS Serwomechanizm - bez biblioteki serwa

#include <LiquidCrystal.h> //Dołączenie biblioteki LCD
#include <TinyGPS++.h> //biblioteka odpowiedzialna za lokalizator GPS
#include <SoftwareSerial.h>


/*
 Spis pinów:
 2,3,4,5,6,7 - LCD
 8 - przycisk
 9 - Serwomechanizm
 10, 11 - RX, TX
 */
// Pulses duration: 600 - 0deg; 1450 - 90deg; 2300 - 180deg;


LiquidCrystal lcd (2,3,4,5,6,7); //Informacja o podlaczeniu nowego wyswietlacza
SoftwareSerial serial_connection(11, 10); //RX=pin 10, TX=pin 11
TinyGPSPlus gps;

void setup(){

  pinMode(8, INPUT_PULLUP);
  pinMode(9, OUTPUT);

  lcd.begin(16,2);
  lcd.setCursor(0,0);
  lcd.print("Predkosc");
  lcd.setCursor(0,1);
  lcd.print("Kat. wych");
  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("0");

  Serial.begin(9600);
  serial_connection.begin(9600);//This opens up communications to the GPS - Dowiedzieć się dlaczego nie działa!
}

void loop(){
while(serial_connection.available())//While there are characters to come from the GPS
  {
gps.encode(serial_connection.read());//This feeds the serial NMEA data into the library one char at a time
  }



  if(gps.location.isUpdated())
  {


  if(gps.speed.kmph() == 0 ){ //GPS = 0km/h -> Serwomechanizm 0"

    digitalWrite(9, HIGH);
    delayMicroseconds(600);
    digitalWrite(9, LOW);
    delay(20);


  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("0");
}



if(gps.speed.kmph() <= 1 && gps.speed.kmph() > 0 ){ //GPS > 90km/h -> Serwomechanizm 20"

    digitalWrite(9, HIGH);
    delayMicroseconds(700);
    digitalWrite(9, LOW);
    delay(20);


  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("10");
}



if(gps.speed.kmph() > 1 && gps.speed.kmph() < 2 ){ //GPS > 90km/h -> Serwomechanizm 20"

    digitalWrite(9, HIGH);
    delayMicroseconds(900);
    digitalWrite(9, LOW);
    delay(20);


  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("30");
}



if(gps.speed.kmph() >= 2 && gps.speed.kmph() < 30){//GPS > 120km/h -> Serwomechanizm 50"

    digitalWrite(9, HIGH);
    delayMicroseconds(1100);
    digitalWrite(9, LOW);
    delay(20);

  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("50");
}



if(gps.speed.kmph() > 30 && digitalRead(8) == LOW ){ //GPS > 30km/h & Wciśniecie buttona(hamulec) -> Serwomechanizm 80"

    digitalWrite(9, HIGH);
    delayMicroseconds(1400);
    digitalWrite(9, LOW);
    delay(20);

  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("80");
}



if(gps.speed.kmph() < 1 && digitalRead(8) == LOW ){ //GPS < 30km/h & Wciśniecie buttona(hamulec) -> Serwomechanizm 0"

    digitalWrite(9, HIGH);
    delayMicroseconds(600);
    digitalWrite(9, LOW);
    delay(20);


  lcd.setCursor(10,0);
  lcd.print(gps.speed.kmph());
  lcd.setCursor(10,1);
  lcd.print("0");
}


}}