[wt200999]

try this:

change

// you may need to reverse this based on your vertical servo installation
				//incrementV = verticalPosition - verticalDestination;
				incrementV = verticalDestination - verticalPosition;

to

// you may need to reverse this based on your vertical servo installation
				incrementV = verticalPosition - verticalDestination;
				//incrementV = verticalDestination - verticalPosition;