int x = 0;
int y= 1;
int xval = 0;
int yval = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  pinMode(x, INPUT);
  pinMode(y, INPUT);

}
void loop() {
  // put your main code here, to run repeatedly:
  xval = map(analogRead(x),0,1023, 0, 180);
  yval = analogRead(y);

  if(yval > 512)
  {
    Serial.print("FORWARD"); Serial.println("\n");
    Serial.print("Speed = "); Serial.println(abs(map(yval,0,1023,255, -255)));Serial.println("\n");
    Serial.print("Angle = "); Serial.println(xval);
  }
  else if(yval < 512)
  {
    Serial.print("REVERSE"); Serial.println("\n");
    Serial.print("Speed = "); Serial.println(abs(map(yval,0,1023,255, -255)));Serial.println("\n");
    Serial.print("Angle = "); Serial.println(xval);
  }
  else
  {
    Serial.print("STOP"); Serial.println("\n");
  }
  delay(1000);
}