#include <Servo.h>


#define RED_BUTTON_PIN 3
#define BLUE_BUTTON_PIN A1
#define WHITE_BUTTON_PIN A4
#define BLACK_BUTTON_PIN A2
#define GREEN_BUTTON_PIN A3
#define RED_LED_PIN 2
#define GREEN_LED_PIN 10
#define SWITCH_PIN 12
#define DIAL_PIN A0
#define RIGHTSERVO_PIN 9
#define LEFTSERVO_PIN 6

Servo leftservo, rightservo;  // create servo object to control a servo

int pos = 90;
int leftpos = 90;   
int rightpos = 90;   
int dialval = 0;    
int horz = 512;
int vert = 512;

void setup() {
  leftservo.attach(LEFTSERVO_PIN);  // attaches the servo on pin 9 to the servo object
  rightservo.attach(RIGHTSERVO_PIN);  // attaches the servo on pin 9 to the servo object
  pinMode(RED_BUTTON_PIN, INPUT_PULLUP);
  pinMode(BLUE_BUTTON_PIN, INPUT_PULLUP);
  pinMode(WHITE_BUTTON_PIN, INPUT_PULLUP);
  pinMode(BLACK_BUTTON_PIN, INPUT_PULLUP);
  pinMode(GREEN_BUTTON_PIN, INPUT_PULLUP);
  pinMode(SWITCH_PIN, INPUT);
  pinMode(RED_LED_PIN, OUTPUT);
  pinMode(GREEN_LED_PIN, OUTPUT);
  leftservo.write(90);              // tell servo to go to position in variable 'pos'
  rightservo.write(90);  

}

void loop() {
  // put your main code here, to run repeatedly:
  
  if  ( digitalRead(SWITCH_PIN) == HIGH )  { //the dial controls the servo positions
    //the dial controls the servo positions

    digitalWrite(RED_LED_PIN,LOW);
    digitalWrite(GREEN_LED_PIN,HIGH);
    dialval = analogRead(DIAL_PIN);            // reads the value of the potentiometer (value between 0 and 1023)
    pos = map(dialval, 0, 1023, 0, 180);     // scale it to use it with the servo (value between 0 and 180)
    leftpos = pos;  // set the servo positions, and write them later
    rightpos = 180-pos; // set the servo positions, and write them later

  } else { 
    //the joystick controls the servo positions
  
    digitalWrite(RED_LED_PIN,HIGH);
    digitalWrite(GREEN_LED_PIN,LOW);

    if ( digitalRead(RED_BUTTON_PIN)  == LOW ) { 
      //the green button centers the servos
   
      leftpos = 90;
      rightpos = 90;
    }
    
    // process the BUTTON values to modify the servo positions

    if ( digitalRead(BLUE_BUTTON_PIN)  == LOW )  {  // 
      leftpos ++ ;
      rightpos ++ ;
    } 
    
    if ( digitalRead(GREEN_BUTTON_PIN)  == LOW )  { // I used 500 instead of 512 to allow for a small error deadband
      leftpos -- ;
      rightpos -- ;
    }

    if ( digitalRead(WHITE_BUTTON_PIN)  == LOW )  {  // the horizontal joystick moves the servos in opposite directions
      leftpos -- ;
      rightpos ++ ;
    } 
    
    if ( digitalRead(BLACK_BUTTON_PIN)  == LOW )  {
      leftpos ++ ;
      rightpos -- ;
    }
    
  }
  
  //prevent limit violations on both servos 
  leftpos = constrain(leftpos,0,180);
  rightpos = constrain(rightpos,0,180);

 
  leftservo.write(leftpos);      // tell servos to go to their positions
  rightservo.write(180-rightpos);  //the servo is rotated 180 deg, so notice: 180 - rightpos 
  delay(10);  
}