int x_val;
int angle;
int angle_multiple;

int scl_pin = 1;
int sda_pin = 2;


int channel_angle(int x, int minVal, int maxVal, int channel){
  int range;
  range = (maxVal - minVal) ;
  angle = (range/channel) ;
  x = map(x, minVal, maxVal,-channel, channel) ;
  x = x*angle;
  return x;
}

// void ClkOrAnti(){
//   if (AR == 1) {
//     AR = 1;
//     AL = 0;
//     BR = 1;
//     BL = 0;
//   }
//   else if (AR == 0){
//     AR = 0;
//     AL = 1;
//     BR = 0;
//     BL = 1;
//   }
// }
int pin[6];

void forward(int y_val){
  int enableR = y_val;
  int enableL = y_val;
  int AR = 1;
  int AL = 0;
  int BR = 1;
  int BL = 0;

  pin[0] = enableR;
  pin[1] = enableL;
  pin[2] = AR;
  pin[3] = AL;
  pin[4] = BR;
  pin[5] = BL;
}
void backward(int y_val){
  y_val = -y_val;
  int enableR = y_val;
  int enableL = y_val;
  int AR = 0;
  int AL = 1;
  int BR = 0;
  int BL = 1;
  pin[0] = enableR;
  pin[1] = enableL;
  pin[2] = AR;
  pin[3] = AL;
  pin[4] = BR;
  pin[5] = BL;
}
void right(int x_val, int maxSpeed){
  int enableR = maxSpeed - x_val;
  int enableL = maxSpeed;
  int AR = 1;
  int AL = 0;
  int BR = 1;
  int BL = 0;
  // ClkOrAnti();
  pin[0] = enableR;
  pin[1] = enableL;
  pin[2] = AR;
  pin[3] = AL;
  pin[4] = BR;
  pin[5] = BL;
}
void left(int y_val, int maxSpeed){
  y_val = -y_val;
  int enableR = maxSpeed;
  int enableL = maxSpeed - x_val;
  int AR = 1;
  int AL = 0;
  int BR = 1;
  int BL = 0;
  // ClkOrAnti();
  pin[0] = enableR;
  pin[1] = enableL;
  pin[2] = AR;
  pin[3] = AL;
  pin[4] = BR;
  pin[5] = BL;
}

// char calculate_dir(int x, int y, int cutoff){
//   if ((((x < (-cutoff)) && (x > (cutoff))) && ((y < (-cutoff)) && (y > (cutoff)))){
//     if (y > cutoff){
//       direction == "f";
//     }
//     else if (y<(-cutoff)){
//       direction = "b";
//     }
//     else if (x> cutoff){
//       direction = "r";
//     }
//     else if (x< (-cutoff)){
//       direction = "l";
//     }
//   }
//   else{
//     direction = "d";
//   }
//   return direction;

// }


void dir(String direction){
  direction.toLowerCase();
  if (direction == "f"){
    forward(y_val);
  }
  else if (direction == "b"){
    backward(y_val);
  }
  else if (direction == "r"){
    right(x_val);
  }
  else if (direction == "l"){
    left(x_val);
  }
  else if (direction == "d"){
    defualt();
  }
}



void setup(){
Serial.begin(115200);
pinMode(1, INPUT);
}


void loop(){
  x_val = channel(analogRead(scl_pin),0,8191,20);
  Serial.println(x_val);
// Serial.println(analogRead(1));
}