Linear Motion Plotter

#include <AccelStepper.h>
#include <MultiStepper.h>
#include <PS2Mouse.h>
#include <Servo.h> 

// for the Arduino Uno + CNC shield V3
#define MOTOR_A_ENABLE_PIN 8
#define MOTOR_A_STEP_PIN 2
#define MOTOR_A_DIR_PIN 5

#define MOTOR_B_ENABLE_PIN 8
#define MOTOR_B_STEP_PIN 3
#define MOTOR_B_DIR_PIN 6

#define MDATA 10
#define MCLK 9

PS2Mouse mouse(MCLK,MDATA,STREAM);

AccelStepper stepper1(1, MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN); 
AccelStepper stepper2(1, MOTOR_B_STEP_PIN, MOTOR_B_DIR_PIN); 

Servo myservo;  
int servo_pos = 0;    

MultiStepper xy;
int x=0,y=0,posx=0,posy=0;
void setup() 
{
  Serial.begin(9600);
  myservo.attach(12);  
  stepper1.setEnablePin(MOTOR_A_ENABLE_PIN);
  stepper1.setPinsInverted(false, false, true);
  stepper2.setEnablePin(MOTOR_B_ENABLE_PIN);
  stepper2.setPinsInverted(false, false, true);
  // Configure each stepper
  stepper1.setMaxSpeed(100);
  stepper2.setMaxSpeed(100);
  // Then give them to MultiStepper to manage
  xy.addStepper(stepper1);
  xy.addStepper(stepper2);
  stepper1.enableOutputs();
  stepper2.enableOutputs();
  
  mouse.initialize();
}

void loop() 
{
   int data[3];
   long position[2];
    
    mouse.report(data);
  
   // x+=Filter.run(data[1]);
      x+=data[1];
    //y+=Filter.run(data[2]);
      y+=data[2];
   
    if(x>6000)
      x=6000;
    else if(x<-6000)
      x=-6000;
    else if(y>6000)
      y=6000;
    else if(y<-6000)
      y=-6000;  
    else
    {
        position[0]=-x/7;
        position[1]=-y/7;
     /*---------------------------------------------*/
              Serial.print(data[0]);//status byte
              Serial.print(":");
              Serial.print( position[0]);//X value
              Serial.print(",");
              Serial.print( position[1]);//Y value
              Serial.println();
    /*---------------------------------------------*/ 
        if(data[0]==9 || data[0]==25 || data[0]==41 || data[0]==57)
          myservo.write(170);//pen down
        else if(data[0]==8 || data[0]==40 || data[0]==24 || data[0]==56)
          myservo.write(90);//pen up  
        xy.moveTo(position);
        xy.runSpeedToPosition();
      //  posx=x;
      //  posy=y;
    }
    //delay(100);
}