#include <Servo.h>

//using servors
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

#define VERT_PIN A0
#define HORZ_PIN A1
#define SEL_PIN  12

//global varialble joystick and servo val, time ect.
int horz;
int vert;
int pos1 = 0;
int servval1;
int servval2;
int servval4;
int servval3 = 0;
int dt = 100;
//int buttonVal;
int Button2 = 7;
int buttonVal2;

void setup() {
  //define my pin servos
myservo1.attach(11);
myservo2.attach(10);
myservo3.attach(9);
myservo4.attach(6);

// define my joystick pins
pinMode(VERT_PIN, INPUT);
pinMode(HORZ_PIN, INPUT);
//pinMode(SEL_PIN, INPUT_PULLUP);
pinMode(Button2, INPUT_PULLUP);


}

void loop() {

//first position of servos when they are gonna start
 myservo1.write(pos1);
 myservo2.write(pos1);
 myservo3.write(pos1);
 myservo4.write(pos1);
 buttonVal2 = digitalRead(Button2);
 Serial.begin(9600);

if(buttonVal2 == 1){

  //buttonVal2 = digitalRead(Button2);
  myservo3.write(90);
  myservo1.write(servval1);
  myservo2.write(servval2);
  myservo4.write(servval4);
  Serial.println(buttonVal2);
  delay(500);

 }

  else if(buttonVal2 == 0) {
    
 myservo1.write(servval1);
 myservo2.write(servval2);
 myservo4.write(servval4);
 myservo3.write(buttonVal2);
 Serial.println(buttonVal2);
 delay(500);

  }

//first if for hand uses
 if(digitalRead(SEL_PIN == LOW)){
 
  servval4 =  map (digitalRead(SEL_PIN), 0, 1, -100, 100 ); 
  myservo3.write(servval3);
  myservo1.write(servval1);
  myservo2.write(servval2);
  myservo4.write(servval4);
  delay(10);

 }

 else 
 {
  
   myservo3.write(servval3);
   myservo1.write(servval1);
   myservo2.write(servval2);
   myservo2.write(servval4);


 }

// second if and first else for uses of servo1 to move the based of our robotic arm
 if (horz = analogRead(HORZ_PIN))
  {
    servval1 =  map (analogRead(HORZ_PIN), 0, 512, -100, 100 );
    myservo1.write(servval1);
    delay(dt);
  }  
 else
  {
    servval1 =  map (analogRead(HORZ_PIN), 0, 1023, -100, 100 );
    myservo1.write(servval1);
    delay(dt);
  }

  // third if and second else for uses of servo2 to move the second part or up part of our robotic arm
 if (vert = analogRead(VERT_PIN))
  {
    servval2 =  map (analogRead(VERT_PIN), 0, 512, -100, 100 );
    myservo2.write(servval2);
    delay(dt);
  }  
 else
  {
    servval2 =  map (analogRead(VERT_PIN), 0, 1023, -100, 100 );
    myservo2.write(servval2);
    delay(dt);
  }



}