#include <Servo.h>
Servo servo1;
Servo servo2;

int encoderPosition = 170;
int lastValue;
int currentValue;
int buttonState;

int xxx;

void setup() {
  pinMode(2, INPUT);
  pinMode(3, INPUT);
  pinMode(4, INPUT_PULLUP);
  pinMode(5, OUTPUT);
  lastValue = digitalRead(2);

  // set PIN and range in us. Standard servo range is 500 - 2500 us
  servo1.attach(6, 500, 2500);
  servo2.attach(11, 1000, 2000);

  Serial.begin(9600);
  Serial.println("BEGIN");
  Serial.println();
}

void loop() {
  currentValue = digitalRead(2);
  if (currentValue != lastValue) {
    if (digitalRead(3) != currentValue)  //Rotating Clockwise
    {
      encoderPosition++;
      if (encoderPosition > 180)
      {
      (encoderPosition = 180);
      }

      Serial.println("Clockwise");
      Serial.println(encoderPosition);
    }

    else
    {
      encoderPosition--;
      if (encoderPosition < 0)
      {
      (encoderPosition = 0);
      }
      Serial.println("Counterclockwise");
      Serial.println(encoderPosition);
    }
  }
  servo1.write(encoderPosition);

  lastValue = currentValue;

  buttonState = (digitalRead(4));
  if (buttonState == LOW)
  {
  digitalWrite(5, HIGH);
  (encoderPosition = 90);
  }
  else
  {
  digitalWrite(5, LOW);
  }

  xxx = map(analogRead(A0), 0, 1023, 0, 180);
  servo2.write(xxx);


}