#include <ESP32Servo.h>

// 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
const int ldrtop = A0; // Top LDR
const int ldrbottom = A2; // Bottom LDR
const int ldrleft = A1; // Left LDR
const int ldrright = A3; // Right 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(9); // Horizontal servo connected to pin 9
  vertical.attach(10);  // Vertical servo connected to pin 10

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

  Serial.begin(9600); // Initialize Serial Monitor
  delay(3000); // Initial delay for setup stabilization
}

void loop() {
  // Read LDR values
  int topVal = analogRead(ldrtop); // Top LDR
  int bottomVal = analogRead(ldrbottom); // Bottom LDR
  int leftVal = analogRead(ldrleft); // Left LDR
  int rightVal = analogRead(ldrright); // Right LDR

  unsigned long currentMillis = millis();

  // Vertical Servo Movement (Up/Down)
  if (topVal > bottomVal + tol) {  // If top LDR detects more light
    if (currentMillis - lastMoveTime >= moveDelay) {
      servov = servov - 1;
      if (servov < servovLimitLow) {
        servov = servovLimitLow;
      }
      vertical.write(servov);
      Serial.println("Moving Upward");
      lastMoveTime = currentMillis;
    }
  } else if (bottomVal > topVal + tol) {  // If bottom LDR detects more light
    if (currentMillis - lastMoveTime >= moveDelay) {
      servov = servov + 1;
      if (servov > servovLimitHigh) {
        servov = servovLimitHigh;
      }
      vertical.write(servov);
      Serial.println("Moving Downward");
      lastMoveTime = currentMillis;
    }
  }

  // Horizontal Servo Movement (Left/Right)
  if (leftVal > rightVal + tol) {  // If left LDR detects more light
    if (currentMillis - lastMoveTime >= moveDelay) {
      servoh = servoh + 1;
      if (servoh > servohLimitHigh) {
        servoh = servohLimitHigh;
      }
      horizontal.write(servoh);
      Serial.println("Moving Left");
      lastMoveTime = currentMillis;
    }
  } else if (rightVal > leftVal + tol) {  // If right LDR detects more light
    if (currentMillis - lastMoveTime >= moveDelay) {
      servoh = servoh - 1;
      if (servoh < servohLimitLow) {
        servoh = servohLimitLow;
      }
      horizontal.write(servoh);
      Serial.println("Moving Right");
      lastMoveTime = currentMillis;
    }
  }

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