const byte VRX = A0;
const byte VRY = A1;
const byte SW = 2;

struct packet {
  bool forward, buttonPressed;
  byte leftFront, leftBack, rightFront, rightBack;
};

void setup() {
  // put your setup code here, to run once:
  pinMode(VRX, INPUT);
  pinMode(VRY, INPUT);
  pinMode(SW, INPUT_PULLUP);

  Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly:
  packet p;

  int b = digitalRead(SW);
  int vert = analogRead(VRY);
  int horz = analogRead(VRX);

  p.buttonPressed = !b;

  // Serial.print(vert);
  // Serial.print(" ");
  // Serial.println(horz);

  int speed;
  
  if (vert < 512) {
    Serial.print("Back");
    p.forward = false;
    speed = map(vert, 511, 0, 0, 255);
  }
  else {
    Serial.print("Front");
    p.forward = true;
    speed = map(vert, 512, 1023, 0, 255);
  }
  // Serial.println(speed);


  if (horz < 512) {
    Serial.print("Right");    
    p.leftFront = speed;
    p.leftBack = map(horz, 511, 0, speed, int(float(speed)*0.66));
    p.rightFront = p.leftBack;
    p.rightBack = map(horz, 511, 0, speed, 0);
  }
  else {
    Serial.print("Left");  
    p.rightFront = speed;
    p.rightBack = map(horz, 512, 1023, speed, int(float(speed)*0.66));
    p.leftFront = p.rightBack;
    p.leftBack = map(horz, 512, 1023, speed, 0);
  }
  
  Serial.print(p.buttonPressed);
  Serial.print(" F:");
  Serial.print(p.forward);
  Serial.print(" LF:");
  Serial.print(p.leftFront);
  Serial.print(" RF:");
  Serial.print(p.rightFront);
  Serial.print(" LB:");
  Serial.print(p.leftBack);
  Serial.print(" RB:");
  Serial.println(p.rightBack);
}