Desviar do Akira

#include <Servo.h>

// Teste de motor
Servo motor_d;
Servo motor_e;

void setup() {
  // put your setup code here, to run once:
motor_d.attach (4);
motor_e.attach (5);
pare();
}

void loop() {
  // put your main code here, to run repeatedly;
  delay (3000);
  direita();
  delay (870);
  pare ();
  frente();
  delay (1538);
  esquerda();
  delay (800);
  frente();
  delay (3207);
  esquerda();
  delay (800);
  pare();
  frente();
  delay (1538);
  direita();
  pare();
  delay (5000);
}

void re(){
  motor_d.write (180);
  motor_e.write (70);
}
void frente(){
  motor_d.write (0);
  motor_e.write (110);
}
void direita(){
  motor_d.write (180);
  motor_e.write (130);
}
void esquerda(){
  motor_d.write (0);
  motor_e.write (50);
}
void pare(){
  motor_d.write (90);
  motor_e.write (90);
}