#include <AccelStepper.h>

#define dir1 2
#define pul1 3
#define dir2 4
#define pul2 5
#define dir3 6
#define pul3 7
#define dir4 8
#define pul4 9

AccelStepper stepper1(1, pul1, dir1);
AccelStepper stepper2(1, pul2, dir2);
AccelStepper stepper3(1, pul3, dir3);
AccelStepper stepper4(1, pul4, dir4);

void setup() {
  Serial.begin(9600); 

  stepper1.setMaxSpeed(500);
  stepper2.setMaxSpeed(500);
  stepper3.setMaxSpeed(500);
  stepper4.setMaxSpeed(500);

  stepper1.setAcceleration(250);
  stepper2.setAcceleration(250);
  stepper3.setAcceleration(250);
  stepper4.setAcceleration(250);

}

void loop() {

  int joystickValue1 = analogRead(A0);
  int deviation1 = joystickValue1 - 512;
  if (abs(deviation1) > 10) {
    int speed1 = map(deviation1, -512, 512, -500, 500); 
    Serial.print(speed1);
    stepper1.setSpeed(speed1);
  } else {
    stepper1.setSpeed(0);
  }
  stepper1.runSpeed();
 

  int joystickValue2 = analogRead(A1);
  int deviation2 = joystickValue2 - 512;
  if (abs(deviation2) > 10) {
    int speed2 = map(deviation2, -512, 512, -500, 500); 
    Serial.print(speed2);
    stepper2.setSpeed(speed2);
  } else {
  stepper2.setSpeed(0);
  }
  stepper2.runSpeed();

  int joystickValue3 = analogRead(A2);
  int deviation3 = joystickValue3 - 512;
  if (abs(deviation3) > 10) {
    int speed3 = map(deviation3, -512, 512, -500, 500); 
    Serial.print(speed3);
    stepper3.setSpeed(speed3);
  } else {
  stepper3.setSpeed(0);
  }
    stepper3.runSpeed();

  int joystickValue4 = analogRead(A3);
    int deviation4 = joystickValue4 - 512;
  if (abs(deviation4) > 10) {
    int speed4 = map(deviation4, -512, 512, -500, 500); 
    Serial.print(speed4);
    stepper4.setSpeed(speed4);
  } else {
    stepper4.setSpeed(0);
  }
  stepper4.runSpeed();

}