int Y = A0;
int XValue = 0;
int X = A1;
int YValue = 0;
int SW = A2;
int SWValue = 0;

void setup() {
  Serial.begin(9600);
  pinMode(X, INPUT);
  pinMode(Y, INPUT);
  pinMode(SW, INPUT);
  pinMode(8, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(4, OUTPUT);
 }

void loop() {
  XValue = analogRead(X);
  YValue = analogRead(Y);
  SWValue = analogRead(SW);
  Serial.print("XValue: ");
  Serial.print(XValue);
  Serial.print("\t");
  Serial.print("YValue: ");
  Serial.print(YValue);
  Serial.print("\t");
  Serial.print("SWValue: ");
  Serial.println(SWValue);
  if(YValue>=800){
    digitalWrite(8, HIGH);
    digitalWrite(7, LOW);
    digitalWrite(4, LOW);
       Serial.println("Forward");
  } else if(YValue<=300){
    digitalWrite(8, LOW);
    digitalWrite(7, HIGH);
    digitalWrite(4, LOW);
    Serial.println("Go back");
  } else if(XValue>=800){
    digitalWrite(8, LOW);
    digitalWrite(7, LOW);
    digitalWrite(4, HIGH);
    Serial.println("Turn left");
  } else if(XValue<=300){
    digitalWrite(8, HIGH);
    digitalWrite(7, HIGH);
    digitalWrite(4, HIGH);
    Serial.println("Turn right");
  } 
   else {
    digitalWrite(8, LOW);
    digitalWrite(7, LOW);
    digitalWrite(4, LOW);
    Serial.println("None");
  } 
  delay(500);
}