#include <Servo.h>           //include servo library

Servo servo1;                // creating servo object
Servo servo2;
Servo servo3;                // creating servo object
Servo servo4;
Servo servo5;

int joystick_x = A0;              // joystick x direction pin
int joystick_y = A1;              // joystick y direction pin
int joystick_x1 = A2;              // joystick x direction pin
int joystick_y1 = A3;              // joystick y direction pin
int pos_x;                   // declaring variable to stroe horizontal value
int pos_y;                   // declaring variable to stroe vertical value
int pos_x1;                   // declaring variable to stroe horizontal value
int pos_y1;
String pos_xs, pos_ys;
String pos_x1s, pos_y1s, pots;

int servo1_pos = 90;        // storing servo position
int servo2_pos = 90;
int servo3_pos = 90;        // storing servo position
int servo4_pos = 90;
int potpin = 4;  // analog pin used to connect the potentiometer
int pot;    // variable to read the value from the analog pin
void setup ( )
{
  Serial.begin (9600) ;
  servo1.attach (2) ;          // servo 1 attached pin
  servo2.attach (3) ;          // servo 1 attached pin
  servo3.attach (4) ;          // servo 1 attached pin
  servo4.attach (5) ;
  servo5.attach (6) ;
  servo1.write (servo1_pos);
  servo2.write (servo2_pos);
  servo3.write (servo3_pos);
  servo4.write (servo4_pos);
  pinMode (joystick_x, INPUT) ;
  pinMode (joystick_y, INPUT) ;
  pinMode (joystick_x1, INPUT) ;
  pinMode (joystick_y1, INPUT) ;
}

void loop ( )
{
  pos_x = analogRead (joystick_x) ;
  pos_y = analogRead (joystick_y) ;
  pos_x1 = analogRead (joystick_x1) ;
  pos_y1 = analogRead (joystick_y1) ;

  pot = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023)
  pot = map(pot, 0, 1023, 0, 180);     // scale it to use it with the servo (value between 0 and 180)
  servo5.write(pot);                  // sets the servo position according to the scaled value
  delay(15);//*/

  pos_xs = String (pos_x);
  pos_ys = String(pos_y);
  pos_x1s = String(pos_x1);
  pos_y1s = String(pos_y1);
  pots = String(pot);
  Serial.println('*' + pos_xs + ',' + pos_ys + ',' + pos_x1s + ',' + pos_y1s + ',' + pots + '#');
  delay(1000);
  //---------------------------------------------
}