Full Tripod Controller code

/**
This code is version 01 of sunCam
The code below takes 2 int's serial A and B
A controls the angle of the rotation of 360
B controls the pitch angle of a servo up to 180
pins:  
      2: is white rotary encoder
      3: is brown rotary encoder
      8: is to H-Bridge motor
      9: is to H-Bridge motor
      10: is to servo
Attach the rotary encoder and servo + and - to arduino
**/      
int encoder0PinA =  2;
int encoder0PinB = 3;
int servoPin = 10; //pin for servo pwm
int motorPin0 = 8; 
int motorPin1 = 9; 
//variables
char serStringA[5];
char serStringB[5];
int serIntA;
int serIntB;
int oldRot = 500;
int angle = 0;
int angleB = 0;
volatile int encoder0Pos = 0;
boolean move = true;
boolean moveB = true;
boolean extended = false;
boolean active = true;
boolean hide = false;
int minPulse = 910;   // Minimum servo position
int maxPulse = 2500;  // Maximum servo position
        // Amount to pulse the servo


void setup() { 
  Serial.begin(9600);
  pinMode(servoPin, OUTPUT);
  digitalWrite(servoPin, LOW);    // Turn the motor off
  pinMode(encoder0PinA, INPUT); 
  digitalWrite(encoder0PinA, HIGH);       
  pinMode(encoder0PinB, INPUT); 
  digitalWrite(encoder0PinB, HIGH);       
  attachInterrupt(0, doEncoderA, CHANGE);  // using interrupt to call doEncoder function
  attachInterrupt(1, doEncoderB, CHANGE);
  pinMode(motorPin0, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  delay(100);  
} 

void loop(){
 
//gives number between 0 - 256 (encoder res 4096) / 16
//sort out horizontal rotation  
  if (encoder0Pos < angle && move == true){
    anticlockwise(6); 
  }
  
  if (encoder0Pos > angle && move == true){
    clockwise(6);
  }
    if (encoder0Pos == angle && move == true){
    
    move = false;
    serialWrite('C'); // Identifier for serial reading
    // anything printed to serial will go to PC
    printInteger(encoder0Pos);
    serialWrite(10);
  }

  if (Serial.available()){
    readSerial();
 }
 
  delay(50);
  if (serIntA > 0){
    Serial.print('A');
    Serial.println(serIntA);
    angle = serIntA;
    serIntA = 0;
    clearSerial();
    move = true;
  }
  
  if (serIntB > 0){
     Serial.print('B');
     Serial.println(serIntB);
     angleB = serIntB;
     serIntB = 0;
     clearSerial();
     moveB = true;
     servoMotion(angleB);
  }
}

void readSerial() {
  
  //char *strArray;
  char channel = Serial.read();
  int i = 0;
    if(!Serial.available()) {
       return;
      }
      if (channel == 'A'){
        Serial.println('A');
        while (Serial.available()) {
            serStringA[i] = Serial.read();
            i++;
         }
    serIntA = atoi(serStringA);
      }
     // Serial.println("foof");
      if (channel == 'B'){
         Serial.println('B');
          while (Serial.available()) {
            serStringB[i] = Serial.read();
            i++;
         } 
       serIntB = atoi(serStringB);
  }   
}

void clearSerial() {
    for (int i=0; i < 5; i++) {
      serStringA[i] = ' ';
      serStringB[i] = ' ';
    }
}

void servoMotion(int rot){
    
    boolean forward;
    
    while (true){
    if (rot < 500 || rot > 2500){
     break;
    }
    digitalWrite(servoPin, HIGH);   // Turn the motor on
    delayMicroseconds(oldRot);       // Length of the pulse sets the motor position
    digitalWrite(servoPin, LOW);    // Turn the motor off
    if (oldRot > rot){ //1840
      forward = false;
    }
    if (oldRot < rot){ //910
      forward = true;
    }
    
    if (forward == true){
      oldRot ++;
    }else{
      oldRot --;
  }
   
     delay(10);
     Serial.println(oldRot);
     if (oldRot == rot){
      
       break;
    }
}
}

void clockwise(int i){
  digitalWrite(motorPin0, HIGH);
  digitalWrite(motorPin1, LOW);
  delay(i);

  digitalWrite(motorPin0, LOW);
  digitalWrite(motorPin1, LOW);
  delay (i);
}

void anticlockwise(int i){
  digitalWrite(motorPin0, LOW);
  digitalWrite(motorPin1, HIGH);
  delay(i);
  digitalWrite(motorPin0, LOW);
  digitalWrite(motorPin1, LOW);
  delay(i);
}

void doEncoderA(){
if (digitalRead(encoder0PinA) == HIGH) {   
    if (digitalRead(encoder0PinB) == LOW) {                                    
      encoder0Pos = encoder0Pos - 1;         
    } 
    else {
      encoder0Pos = encoder0Pos + 1;
     
    }
  }
  else                                        
  { 
    if (digitalRead(encoder0PinB) == LOW) {                                       
      encoder0Pos = encoder0Pos + 1;          
    } 
    else {
      encoder0Pos = encoder0Pos - 1;         
    }
  }
}

void doEncoderB(){
if (digitalRead(encoder0PinB) == HIGH) {   
    if (digitalRead(encoder0PinA) == LOW) {                                    
      encoder0Pos = encoder0Pos + 1;         
    } 
    else {
      encoder0Pos = encoder0Pos - 1;
     
    }
  }
  else                                        
  { 
    if (digitalRead(encoder0PinA) == LOW) {                                       
      encoder0Pos = encoder0Pos - 1;          
    } 
    else {
      encoder0Pos = encoder0Pos + 1;         
    }
  }
}