const int hor_pin = A0,
ver_pin = A1,

step_hor = 3,
dir_hor = 2,
step_ver = 5,
dir_ver = 4,

hor_ms1 = 6,
hor_ms2 = 7,
hor_ms3 = 8,

ver_ms1 = 9,
ver_ms2 = 10,
ver_ms3 = 11;

int prev_time = millis();

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

  pinMode(hor_pin, INPUT);
  pinMode(ver_pin, INPUT);

  pinMode(step_hor, OUTPUT);
  pinMode(dir_hor, OUTPUT);
  pinMode(step_ver, OUTPUT);
  pinMode(dir_ver, OUTPUT);
}

void loop() {
// reading data from joystick and storing data in hor & ver variables
  int hor = map(analogRead(hor_pin), 0, 1023, 1, -1);
  int ver = map(analogRead(ver_pin), 0, 1023, -1, 1);

// printing the hor and ver values on serial monitor
  int current_time = millis();
  if(current_time - prev_time >= 500){
    prev_time = current_time;
    char buffer[40];
    sprintf(buffer, "hor = %d, ver = %d", hor, ver);
    Serial.println(buffer);
  }

// vertical movement 
  if(ver != 0){
    if(ver < 0){
      digitalWrite(dir_ver, HIGH);
    }
    else{
      digitalWrite(dir_ver, LOW);
    }
    digitalWrite(step_ver, HIGH);
    delay(50);
    digitalWrite(step_ver, LOW);
  }

// horizontal movement
  if(hor != 0){
    if(hor > 0){
      digitalWrite(dir_hor, HIGH);
    }
    else{
      digitalWrite(dir_hor, LOW);
    }
    digitalWrite(step_hor, HIGH);
    delay(50);
    digitalWrite(step_hor, LOW);
  }  
}