// Include the necessary libraries
#include <Stepper.h>   // library for stepper motor
#include <Servo.h>    // library for Servo motor

Servo myServo;  // create a servo object

// Define the stepper motor pins
const int stepPin = 2;  // to move hand upward and downward
const int dirPin = 5;   // to move hand upward and downward

const int stepPin1 = 3;  // to move hand Left and Right
const int dirPin1 = 6;   // to move hand Left and Right

const int stepPin2 = 4;  // to contract and expand arm
const int dirPin2 = 7;   // to contract and expand arm

// Define the joystick pins
const int joyXPin = A0;    // to Control stepper Motor
const int joyYPin = A1;   // to Control stepper Motor

const int joyXPin1 = A3;   // to Control Servo Motor & to Control stepper Motor
const int joyYPin1 = A4;   // to Control Servo Motor & to Control stepper Motor

// Create a Stepper object for motor which move hand upward and downward
Stepper myStepper(200, stepPin, dirPin);

// Create a Stepper object for motor which move hand Left and Right
Stepper myStepper1(200, stepPin1, dirPin1);

// Create a Stepper object for motor to contract and expand arm
Stepper myStepper2(200, stepPin2, dirPin2);

void setup() {
  // Initialize the stepper motor which move hand upward and downward
  myStepper.setSpeed(60);

  // Initialize the stepper motor which move hand Left and Right
  myStepper1.setSpeed(60);

  // Initialize the stepper motor which contract and expand arm
  myStepper2.setSpeed(60);     
  
  // Pin number where attach servo motor's data pin on arduino board
  myServo.attach(9);

  // Initialize the joystick pins as inputs for stepper Motor
  pinMode(joyXPin, INPUT);
  pinMode(joyYPin, INPUT);


  // Initialize the joystick pins as inputs for Servo motor
  pinMode(joyXPin1, INPUT);
  pinMode(joyYPin1, INPUT);
  
  // Initialize the stepper motor pins as outputs which move hand upward and downward
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);

  // Initialize the stepper motor pins as outputs which move hand Left and Right
  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);

  // Initialize the stepper motor pins as outputs which contract and expand arm
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);

  Serial.begin(9600);
}
// This below function is responsible for stepper motor which move upward and downward
void MoveMotorUpwardandDownward()
{
    // Read the joystick values for stepper motor
  int joyX = analogRead(joyXPin);

  if(joyX > 520)
  {
    // Set the direction of the stepper motor
    digitalWrite(dirPin, HIGH); // Clockwise

  // Move the stepper motor 1 steps
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(5);
  }
  }

  else if((joyX <520)&&(joyX<300))
  {
    // Change the direction of the stepper motor
    digitalWrite(dirPin, LOW); // Counterclockwise

  // Move the stepper motor 1 steps
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(5);
  }
  }
  else
  {
    digitalWrite(stepPin, LOW);
  }
}

void ContractAndExpandMotor()
{
  int joyY1 = analogRead(joyYPin1);

  if(joyY1 > 520)
  {
    digitalWrite(dirPin2, HIGH); // Clockwise
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin2, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin2, LOW);
      delayMicroseconds(5);
    }
  }
  else if((joyY1 < 520)&&(joyY1<300))
  {
    digitalWrite(dirPin2, LOW); // Counterclockwise
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin2, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin2, LOW);
      delayMicroseconds(5);
    }
  }
  else
  {
    digitalWrite(stepPin2, LOW);
  }
}

  // This below function is responsible for stepper motor which move left and right
void MoveMotorLeftandRight()
{
  int joyY = analogRead(joyYPin);


  if(joyY > 535)
  {
    // Set the direction of the stepper motor
    digitalWrite(dirPin1, HIGH); // Clockwise

    // Move the stepper motor 100 steps
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin1, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin1, LOW);
      delayMicroseconds(5);
  }
  }

  else if((joyY <535)&&(joyY<300))
  {
    // Change the direction of the stepper motor
    digitalWrite(dirPin1, LOW); // Counterclockwise

  // Move the stepper motor 100 steps
    for (int i = 0; i < 1; i++) {
      digitalWrite(stepPin1, HIGH);
      delayMicroseconds(5);
      digitalWrite(stepPin1, LOW);
      delayMicroseconds(5);
  }
  }
  else
  {
    digitalWrite(stepPin1, LOW);
  }
}

//  Responsible for servo Motor's movement
void MoveServoMotor()
{
  //  Responsible for servo movement
  int joyX1 = analogRead(joyXPin1);
  int servoPos = map(joyX1, 0, 1023, 0, 180);  // map the joystick value to a servo position

  myServo.write(servoPos);  // set the servo position
  delay(15);  // wait 15ms for the servo to reach the position
}

void ShowStepperMotorJoystickValue()
{
  int joyX = analogRead(joyXPin);
  int joyY = analogRead(joyYPin);

  Serial.print("The value of X-axis Stepper Motor JoyStick is: ");
  Serial.println(joyX); // Print the value of joyX, not joyXPin

  Serial.print("The value of Y-axis Stepper Motor JoyStick is: ");
  Serial.println(joyY); // Print the value of joyY, not joyYPin
}

void ShowServoMotorJoyStickValues()
{
  // You haven't defined joyX1Pin and joyY1Pin, so I assume they should be joyXPin and joyYPin
  int joyX1 = analogRead(joyXPin1);
  int joyY1 = analogRead(joyYPin1);

  Serial.print("The value of X-axis Servo Motor JoyStick is: ");
  Serial.println(joyX1); // Print the value of joyX

  Serial.print("The value of Y-axis Servo Motor JoyStick is: ");
  Serial.println(joyY1); // Print the value of joyY
}

void loop()
{
  MoveMotorUpwardandDownward();
  MoveMotorLeftandRight();
  MoveServoMotor();
  ContractAndExpandMotor();
  ShowStepperMotorJoystickValue();
  ShowServoMotorJoyStickValues();
}