#include <Servo.h>

//Joystick pin definition and setup
#define resetPin 2 
#define steeringPin A0
long pastTime;
long currentTime;
int current_position;

//Servo Motor setup
#define pulsePin 3
Servo M1;

void setup() {
  // put your setup code here, to run once:
  pinMode(resetPin, INPUT);
  pinMode(steeringPin, INPUT);
  M1.attach(pulsePin,544,2400);
  current_position = 90;
  M1.write(current_position);
  pastTime = millis();
}

void loop() {
  // put your main code here, to run repeatedly:
  if (digitalRead(resetPin)==1){
    M1.write(90);
    current_position = 90;
    pastTime = millis();
  }
  else{
    if (analogRead(steeringPin)==0){
      delay(50);
      currentTime = millis();
      current_position = current_position + 0.05*(currentTime - pastTime);
      M1.write(current_position);
      pastTime = currentTime;
    }
    else if (analogRead(steeringPin)==1023){
      delay(50);
      currentTime = millis();
      current_position = current_position - 0.05*(currentTime - pastTime);
      M1.write(current_position);
      pastTime = currentTime;
    }
    else{
      pastTime = millis();
    }
  }
}