//Joystick setup
int JoyStick_X = A0; //x
int JoyStick_Y = A1; //y
//button setup
const int buttonpin=2;
int buttonState=0;
int val = 0;
//Motor 1 set up
const int enA = 3;
const int in1=4;
const int in2=5;
//Motor 2 set up
const int enB=6;
const int in3=7;
const int in4=8;

int motorSpeedA;
int motorSpeedB;
void setup()
{
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  pinMode(JoyStick_X,INPUT);
  pinMode(JoyStick_Y,INPUT);
  
  pinMode(buttonpin,INPUT);
  Serial.begin(9600); // 9600 bps
}
void loop()
{
  int x,y;
  x=analogRead(JoyStick_X);
  y=analogRead(JoyStick_Y);
  Serial.print(x ,DEC);
  Serial.print(",");
  Serial.print(y ,DEC);
  Serial.print(",");
  Serial.print(val);
  delay(100);
    buttonState=digitalRead(buttonpin);
 
 if(buttonState==HIGH){
  val=val++;
        if(val>=2){val=0;}
      }
      if(val=0){
        if(y<470){//down
         digitalWrite(in1,HIGH);
         digitalWrite(in2,LOW);
         //motor b
         digitalWrite(in3,HIGH);
         digitalWrite(in4,LOW);
         
     motorSpeedA = map(y, 470, 0, 0, 255);
    motorSpeedB = map(y, 470, 0, 0, 255);
        }
      else if(y>550){
        // Set Motor A forward
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    // Set Motor B forward
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
    motorSpeedA = map(y, 550, 1023, 0, 255);
    motorSpeedB = map(y, 550, 1023, 0, 255);
      }
      else{
        motorSpeedA=0;
        motorSpeedB=0;
      }
      if (x < 470) {
    // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
    int xMapped = map(x, 470, 0, 0, 255);
    // Move to left - decrease left motor speed, increase right motor speed
    motorSpeedA = motorSpeedA - xMapped;
    motorSpeedB = motorSpeedB + xMapped;
    // Confine the range from 0 to 255
    if (motorSpeedA < 0) {
      motorSpeedA = 0;
    }
    if (motorSpeedB > 255) {
      motorSpeedB = 255;
    }
  }
  if (x >550){
    // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
    int xMapped = map(x, 550, 1023, 0, 255);
    // Move right - decrease right motor speed, increase left motor speed
    motorSpeedA = motorSpeedA + xMapped;
    motorSpeedB = motorSpeedB - xMapped;
    // Confine the range from 0 to 255
    if (motorSpeedA > 255) {
      motorSpeedA = 255;
    }
    if (motorSpeedB < 0) {
      motorSpeedB = 0;
    }
  }
      }
      if(val=1){//servo movement
        
      }
}