#include <LiquidCrystal_I2C.h>
#include <Servo.h>
#include <Wire.h>
LiquidCrystal_I2C lcd(0x27,20,4);

#define trucx A2
#define trucy A3
#define button1 7
#define button2 4
#define button3 2

Servo myservo[4];
int chanservo[4]={11,10,9,6};
int goc[4]={0,0,0,0};
unsigned long timetime=0;

void setup() {
  lcd.init();
  lcd.backlight();
  pinMode(trucx, INPUT);
  pinMode(trucy, INPUT);
  pinMode(button1, INPUT_PULLUP);
  pinMode(button2, INPUT_PULLUP);
  pinMode(button3, INPUT_PULLUP);
  //caub
  for (int i=0;i<4;i++){
    myservo[i].attach(chanservo[i]);
    myservo[i].write(0);
  }

}

//cau i
void loop() {
unsigned long time=millis();
if (digitalRead(button3)==LOW){
  if(time-timetime >3000){
    for(int i =0;i<4;i++){
      myservo[i].write(0);
    }
  }
}else{
  timetime=time;
}

//cau d e
  int x=analogRead(trucx);
  int y=analogRead(trucy);

  if(x==1023){
    goc[0]+=5;
    goc[1]+=5;
    myservo[0].write(goc[0]);
    myservo[1].write(goc[1]);

  }else if(x==0){
    goc[0]-=5;
    goc[1]-=5;
    myservo[0].write(goc[0]);
    myservo[1].write(goc[1]);

  }
  

  if(y==1023){
    goc[2]+=5;
    goc[3]+=5;
    myservo[2].write(goc[2]);
    myservo[3].write(goc[3]);

  }else if(y==0){
    goc[2]-=5;
    goc[3]-=5;
    myservo[2].write(goc[2]);
    myservo[3].write(goc[3]);
  }
  for (int i=0;i<4; i++){
    if (goc[i]<0){
      goc[i]= 0;
    
    }
    if(goc[i]>180){
      goc[i]=180;
    }
  }
//cau c
  lcd.setCursor(0,0);
  lcd.print("x:");
  lcd.print(x);
  lcd.print(" ");
  lcd.print("y:");
  lcd.print(y);
  lcd.print(" ");
  delay(50);




}