#include <Servo.h>

Servo motor1;
Servo motor2;

int joyPinX = A0; // Joystick X-axis pin
int joyPinY = A1; // Joystick Y-axis pin
int joyThreshold = 20; // Joystick deadzone threshold

void setup() {
  motor1.attach(3); // Attach motor1 to pin 3
  motor2.attach(5); // Attach motor2 to pin 5
}

void loop() {
  int joyX = analogRead(joyPinX); // Read joystick X-axis
  int joyY = analogRead(joyPinY); // Read joystick Y-axis

  // Apply deadzone to joystick readings
  if (abs(joyX - 512) < joyThreshold) {
    joyX = 512;
  }
  if (abs(joyY - 512) < joyThreshold) {
    joyY = 512;
  }

  // Map joystick readings to motor speeds
  int speed1 = map(joyY, 0, 1023, -255, 255);
  int speed2 = map(joyY, 0, 1023, -255, 255);

  // Calculate motor speed differentials for turning
  int turnDiff = map(joyX, 0, 1023, -255, 255);
  speed1 += turnDiff;
  speed2 -= turnDiff;

  // Set motor speeds
  motor1.writeMicroseconds(1500 + speed1);
  motor2.writeMicroseconds(1500 - speed2);
}