#include <Servo.h>

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;

int led = 10;

int joyX1 =2;
int joyY1 =3;
int throttle1 =1;

int joyVal1;
int throttVal1=0;

void setup()
{ //attaches our servos on pins PWM 3-5
  servo1.attach(3);
  servo2.attach(5);
  servo3.attach(6);
  servo4.attach(9);

  pinMode(led, OUTPUT);
}

void loop()
{
  //read the value of joystick (between 0-1023)
  joyVal1 = analogRead(joyY1);
  joyVal1 = map (joyVal1, 0, 1023, 30, 150); //servo value between 0-180
  servo1.write(joyVal1); //set the servo position according to the joystick value
  servo3.write(joyVal1);
  servo4.write(joyVal1);
  delay(15);

  joyVal1 = analogRead(joyX1);
  joyVal1 = map (joyVal1, 0, 1023, 30, 150);
  servo2.write(joyVal1);
  delay(15);

  throttVal1 = analogRead(throttle1);
  throttVal1 = map (throttVal1, 0, 1023, 0, 255);
  analogWrite(led, throttVal1);
  delay(15);
}