Jan Vaverka - servo

#include <Servo.h>
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;

unsigned long prevMillis=0;
uint16_t time=10000;  // 10 sekund v milisekundach
uint8_t flag=0;

ISR(PCINT0_vect)  // PB
{
  flag=1;
}

ISR(PCINT2_vect)  // PD
{
  flag=1;
}

void setup() {
  pinMode(4, OUTPUT); // Vystup pro spinani 10 sekund
  pinMode(5, INPUT_PULLUP); // PCINT21
  pinMode(6, INPUT_PULLUP); // PCINT22
  pinMode(7, INPUT_PULLUP); // PCINT23
  pinMode(8, INPUT_PULLUP); // PCINT0
  servo1.attach(9);
  servo2.attach(10);
  servo3.attach(11);
  servo4.attach(12);

  PCICR |= (1<<PCIE0)|(1<<PCIE2);
  PCMSK0 |= (1<<PCINT0);
  PCMSK2 |= (1<<PCINT23)|(1<<PCINT22)|(1<<PCINT21);
  sei();
}

void loop() {
  // time update
  if (flag)
  {
    flag=0;
    prevMillis=millis();
  }

  if (prevMillis+time> millis())
  {
    digitalWrite(4, HIGH);
  }
  else
  {
    digitalWrite(4, LOW);
  }

  if (!digitalRead(5))
  {
    servo1.write(150);
    delay(1);
  }
  else
  {
    servo1.write(0);
    delay(1);
  }

  if (!digitalRead(6))
  {
    servo2.write(150);
    delay(1);
  }
  else
  {
    servo2.write(0);
    delay(1);
  }

  if (!digitalRead(7))
  {
    servo3.write(150);
    delay(1);
  }
  else
  {
    servo3.write(0);
    delay(1);
  }

  if (!digitalRead(8))
  {
    servo4.write(150);
    delay(1);
  }
  else
  {
    servo4.write(0);
    delay(1);
  }
}