const int xaxis = A0;
const int yaxis = A1;

const int leftClockPin = A2;
const int leftAntiPin = A3;
const int rightClockPin = A4;
const int rightAntiPin = A5;

int fpwm = 0;
int bpwm = 0;
int lpwm = 0;
int rpwm = 0;

int xAxisValue;
int yAxisValue;

void setup(){
  Serial.begin(9600);
  pinMode(xaxis, INPUT);
  pinMode(yaxis, INPUT);
  pinMode(leftClockPin, OUTPUT);
  pinMode(leftAntiPin, OUTPUT);
  pinMode(rightClockPin, OUTPUT);
  pinMode(rightAntiPin, OUTPUT);
}

void forward() {
  analogWrite(leftAntiPin, fpwm);
  analogWrite(rightClockPin, fpwm);
}

void backward() {
  analogWrite(leftClockPin, bpwm);
  analogWrite(rightAntiPin, bpwm);
}

void leftward() {
  analogWrite(leftClockPin, lpwm);
  analogWrite(rightClockPin, lpwm);
}

void rightward() {
  analogWrite(leftAntiPin, rpwm);
  analogWrite(rightAntiPin, rpwm);
}

void loop(){
  xAxisValue = analogRead(xaxis);
  yAxisValue = analogRead(yaxis);
        if (xAxisValue > 512) {
      fpwm = map(xAxisValue, 512, 1024, 0, 255);
      Serial.println(fpwm);
      forward();
    } else if (xAxisValue < 512) {
      bpwm = map(xAxisValue, 512, 0, 0, 255);
      Serial.println(bpwm);
      backward();
    }
    if (yAxisValue > 512) {
      rpwm = map(yAxisValue, 512, 1024, 0, 255);
      Serial.println(rpwm);
      rightward();
    } else if (yAxisValue < 512) {
      lpwm = map(yAxisValue, 512, 0, 0, 255);
      Serial.println(lpwm);
      leftward();
    }
}