#include <Stepper.h>

const int stepsPerRevolution = 200;

// initialize the stepper library on pins 9 through 12:
Stepper leftMotor(stepsPerRevolution, 9, 10, 11, 12);

Stepper rightMotor(stepsPerRevolution, 2, 3, 4, 5);

const int motorSpeed = 10;


float horizontal;
float vertical;

bool forward = false;
bool backward = false;
bool left = false;
bool right = false;

void joyStickRead() {
  horizontal = analogRead(A0);
  vertical = analogRead(A1);
  //Serial.println(horizontal);
  //Serial.println(vertical);
}

void horizontalMotorRead() {

  //Left and Right Motor Application
  if (horizontal > 512) {
    right = false;
    left = true;
  } else if (horizontal < 512)  {
    right = true;
    left = false;
  } else if (horizontal == 512)  {
    right = false;
    left = false;
  }
}

void verticalMotorRead() {

  //Up and Down Motor Application
  if (vertical > 512) {
    forward = true;
    backward = false;
  } else if (vertical < 512)  {
    forward = false;
    backward = true;
  } else if (vertical == 512)  {
    forward = false;
    backward = false;
  }
}

void horizontalMotorControl() {
  if (right == true && left == false)  {
    leftMotor.step(-motorSpeed);
    rightMotor.step(motorSpeed);
  } else if (right == false && left == true)  {
    leftMotor.step(motorSpeed);
    rightMotor.step(-motorSpeed);
  } else if (right == false && left == false) {
    leftMotor.step(0);
    rightMotor.step(0);
  } else {
    Serial.println("Unknown Horizontal Input");
  }
}

void verticalMotorControl() {
  if (forward == true && backward == false) {
    leftMotor.step(motorSpeed);
    rightMotor.step(motorSpeed);
  } else if (forward == false && backward == true)  {
    leftMotor.step(-motorSpeed);
    rightMotor.step(-motorSpeed);
  } else if (forward == false && backward == false) {
    leftMotor.step(0);
    rightMotor.step(0);
  }
}

void setup() {
  // set the speed at 100 rpm:
  leftMotor.setSpeed(100);
  rightMotor.setSpeed(100);
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() {
  bool killSwitch = false;

  while (killSwitch == false) {
    joyStickRead();
    horizontalMotorRead();
    verticalMotorRead();
    horizontalMotorControl();
    verticalMotorControl();
  }
}