There is a bit more information we will need in order to help with this issue. What is the robot doing, and what would you like for it to do? Which servo is not doing what you would like for it to do, and where in the code does this problem arise? The more detailed information you can give us on this particular issue, the better we will be able to assist you.
Right off the bat, I do see one thing that may be causing issues:
This moves the servo to position -120, but will give it 150 milliseconds to get there (0.150 seconds) before moving on the to the next command. This may not be enough time to have the motor moved to the position you want it to be in.
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