#include <18F252.h>
#device HIGH_INTS=TRUE
#fuses HS,NOWDT,NOPROTECT,NOLVP
#use delay(clock=20000000)
#use rs232(uart1, baud=115200)

#include <servoext.c>

int16 servos[] = {PIN_B0, PIN_B1, PIN_C2, PIN_C5};

void main() {

	int8 i,j,k,l;

	init_servoext(servos, 4);

	while (true) {
		i = getc();
		j = getc();
		k = getc();
		l = getc();
		set_move(i,0);
		set_move(j,1);
		set_angle(k,2);
		set_angle(l,3);
		putc('Y');
	}
}