#include <Servo.h>
// define the pins for the A4988 stepper motor driver
const int stepPin = 6;
const int dirPin = 5;

// define the pin for the servo motor
const int ServoPin = 3;

// set the maximum and minimum values of the potentiometer
const int potMin = 0;
const int potMax = 1023;

// set the maximum and minimum values of the joystick
const int joyMin = 0;
const int joyMax = 1023;

void setup() 
{
  // set the STEP and DIR pins as outputs
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);

  // attach the servo motor to the servoPin
  Servo.attach(ServoPin);
}

void loop() 
{
  // read the value of the potentiometer
  int potValue = analogRead(A0);

  // map the potentiometer value to a range between -1 and 1
  float dirValue = map(potValue, potMin, potMax, -1, 1);

  // determine the direction of the motor rotation based on the potentiometer value
  int dir = (dirValue >= 0) ? HIGH : LOW;

  // set the DIR pin to the appropriate value
  digitalWrite(dirPin, dir);

  // toggle the STEP pin to move the motor one step
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(500);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(500);

  // read the value of the y-axis of the joystick
  int joyValue = analogRead(A1);

  // map the joystick value to a range between 0 and 180
  int angle = map(joyValue, joyMin, joyMax, 0, 180);

  // set the angle of the servo motor
  Servo.write(angle);
}