import RPi.GPIO as GPIO
from RPIO import PWM
import picamera
import time

orders = raw_input('Use WASD to control camera. "c" to center,"o" to quit.')
camera = picamera.PiCamera()
GPIO.setmode(GPIO.BCM)
GPIO.setup(4, GPIO.OUT)
GPIO.setup(17, GPIO.OUT)
servox = PWM.Servo()
servoy = PWM.Servo()
xlocation = 1420
ylocation = 1290
servox.set_servo(4, xlocation)
servoy.set_servo(17, ylocation)

camera.start_preview()
while True and orders != 'q':
	if orders == 'w' and not ylocation > 1490:
		ylocation = ylocation + 100
		servoy.set_servo(17, ylocation)
	elif orders == 's' and not ylocation < 	400:
		ylocation = ylocation - 100
		servoy.set_servo(17, ylocation)
	elif orders == 'a' and not xlocation > 1820:
		xlocation = xlocation + 100
		servox.set_servo(4, xlocation)
	elif orders == 'd' and not xlocation < 1020:
		xlocation = xlocation - 100
		servox.set_servo(4, xlocation)
	elif orders == 'c':
		xlocation = 1420
		ylocation = 1290
		servox.set_servo(4, xlocation)
		servoy.set_servo(17, ylocation)
	elif orders == '1':
		camera.stop_preview()
	elif orders == '2':
		camera.start_preview()
	orders = raw_input()
xlocation = 1420
ylocation = 1290
servox.set_servo(4, xlocation)
servoy.set_servo(17, ylocation)
camera.stop_preview
GPIO.output(4,0)
GIPO.output(17,0)

camera.close
GPIO.cleanup()