int JoyStick_X = A1; //x
const int relayPin1 = 8; // Relay 1 control pin
const int relayPin2 = 7; // Relay 2 control pin
const int stopLeftButton = 2; // Stop forward button pin
const int stopRightButton = 3; // Stop reverse button pin
const int middleX = 520; // the center value of the joystickX
const int middleY = 520; // the center value of the joystickY

int JoyStick_Y = A2; //y
const int relayPin3 = 10; // Relay 3 control pin
const int relayPin4 = 9; // Relay 4 control pin
const int stopUpButton = 4; // Stop upward button pin
const int stopDownButton = 5; // Stop downward button pin

void setup()
{
pinMode(JoyStick_X, INPUT_PULLUP);
pinMode(relayPin1, OUTPUT);
pinMode(relayPin2, OUTPUT);
pinMode(stopLeftButton, INPUT_PULLUP);
pinMode(stopRightButton, INPUT_PULLUP);
Serial.begin(9600);

pinMode(JoyStick_Y, INPUT_PULLUP);
pinMode(relayPin3, OUTPUT);
pinMode(relayPin4, OUTPUT);
pinMode(stopUpButton, INPUT_PULLUP);
pinMode(stopDownButton, INPUT_PULLUP);

}

void loop()
{
 int x; // x the variable for the position of the jostick on the horizontal axe
 x=analogRead(JoyStick_X);
 Serial.println(x);

 if ((x > middleX + 100) and (digitalRead(stopLeftButton)== LOW)) // moving te joystick to the left
 {
     //Left direction <<<<<
     digitalWrite(relayPin1, HIGH);
     digitalWrite(relayPin2, LOW);
  }

  else if ((x < middleX - 100) and (digitalRead(stopRightButton) == LOW))  // moving te joystick to the right
  {
     //  Right direction >>>>>
      digitalWrite(relayPin1, LOW);
      digitalWrite(relayPin2, HIGH);
  }
    //else no action
  else {
      digitalWrite(relayPin1, LOW);
      digitalWrite(relayPin2, LOW);
  }

  delay(100);


  int y;
 y=analogRead(JoyStick_Y);
 Serial.println(y);

 if ((y > middleX + 100) and (digitalRead(stopUpButton)== LOW))
 {
     //👆 Up direction 
     digitalWrite(relayPin3, HIGH);
     digitalWrite(relayPin4, LOW);
  }

  else if ((y < middleY - 100) and (digitalRead(stopDownButton) == LOW))
  {
     //👇 Down direction 
      digitalWrite(relayPin3, LOW);
      digitalWrite(relayPin4, HIGH);
  }
    // else no action
  else {
      digitalWrite(relayPin3, LOW);
      digitalWrite(relayPin4, LOW);
      // delay(250);
  }
  delay(250);
}