#include <ESP32Servo.h>

//horizontal bottom 180 , vertical top 45

// 180 deg horizontal MAX
Servo horizontal;
int servoh = 90;
const int servohLimitHigh = 180;
const int servohLimitLow = 0;

// 65 deg MAX
Servo vertical;
int servov = 45;
const int servovLimitHigh = 135;
const int servovLimitLow = 45;

// Define LDR pins (ESP32 uses different pin numbering)
const int ldrtopr = 34; // Top right LDR
const int ldrtopl = 35; // Top left LDR
const int ldrbotr = 32; // Bottom right LDR
const int ldrbotl = 33; // Bottom left LDR

// Movement thresholds and timing
const int tol = 50;   // Threshold for movement
const unsigned long moveDelay = 20; // Delay for servo movement
unsigned long lastMoveTime = 0; // Last movement time

void setup() {
  // Attach servos to corresponding pins
  horizontal.attach(13); // Horizontal servo connected to GPIO 13
  vertical.attach(12);  // Vertical servo connected to GPIO 12

  // Set initial positions
  horizontal.write(90);
  vertical.write(45);

  Serial.begin(115200); // ESP32 typically uses 115200 baud rate for Serial Monitor
  delay(3000); // Initial delay for setup stabilization
}

void loop() {
  // Read LDR values
  int lt = analogRead(ldrtopl); // Top left
  int rt = analogRead(ldrtopr); // Top right
  int ld = analogRead(ldrbotl); // Bottom left
  int rd = analogRead(ldrbotr); // Bottom right

  // Calculate average LDR values
  int avt = (lt + rt) / 2; // Average value top
  int avd = (ld + rd) / 2; // Average value down
  int avl = (lt + ld) / 2; // Average value left
  int avr = (rt + rd) / 2; // Average value right

  int dvert = avt - avd;
  int dhoriz = avl - avr;

  unsigned long currentMillis = millis();

  // Vertical Servo Movement
  if (abs(dvert) > tol) {
    if (avt < avd) {
      if (currentMillis - lastMoveTime >= moveDelay) {
        servov = servov - 1;
        if (servov < servovLimitLow) {
          servov = servovLimitLow;
        }
        vertical.write(servov);
        Serial.println("Moving Downward");
        lastMoveTime = currentMillis;
      }
    } else if (avt > avd) {
      if (currentMillis - lastMoveTime >= moveDelay) {
        servov = servov + 1;
        if (servov > servovLimitHigh) {
          servov = servovLimitHigh;
        }
        vertical.write(servov);
        Serial.println("Moving Upward");
        lastMoveTime = currentMillis;
      }
    }
  }

  // Horizontal Servo Movement
  if (abs(dhoriz) > tol) {
    if (avl > avr) {
      if (currentMillis - lastMoveTime >= moveDelay) {
        servoh = servoh - 1;
        if (servoh < servohLimitLow) {
          servoh = servohLimitLow;
        }
        horizontal.write(servoh);
        Serial.println("Rotating Left");
        lastMoveTime = currentMillis;
      }
    } else if (avl < avr) {
      if (currentMillis - lastMoveTime >= moveDelay) {
        servoh = servoh + 1;
        if (servoh > servohLimitHigh) {
          servoh = servohLimitHigh;
        }
        horizontal.write(servoh);
        Serial.println("Rotating Right");
        lastMoveTime = currentMillis;
      }
    }
  }

  delay(100); // Small delay between loops
}