#include <Servo.h>

//Servo objects created to control the servos
Servo myServo1;
Servo myServo2;

int servo1 = 3; //Digital PWM pin used by the servo 1
int servo2 = 5; //Digital PWM pin used by the servo 2
int initial_position1 = 90;
int initial_position2 = 90;


int joyX = A0;   //Analog pin to which the joystick (X) is connected
int x_pos;
int joyY = A1;   //Analog pin to which the joystick (Y) is connected
int y_pos;

void setup(){
  Serial.begin (9600);
  Serial.print(x_pos);
  Serial.println(y_pos);
  myServo1.attach(servo1);
  myServo2.attach(servo2);
  pinMode (joyX, INPUT);
  pinMode (joyY, INPUT);
}

void loop()
{
  x_pos = analogRead(joyX);
  y_pos = analogRead(joyY);
  Serial.print("x= ");
  Serial.print(x_pos);
  Serial.print("    ");
  Serial.print("y= ");
  Serial.println(y_pos);
  delay(100);

  int valX = analogRead(joyX); //Read the joystick X value (value between 0 and 1023)
  int valY = analogRead(joyY); //Read the joystick Y value (value between 0 and 1023)

  valX = map(valX, 0, 1023, 0, 180); //Scale the joystick X value to use it with the servo
  valY = map(valY, 0, 1023, 0, 180); //Scale the joystick X value to use it with the servo

  if (x_pos < 300)
  {
    if (initial_position1 < 10) { } 
    else
    {
    initial_position1 = initial_position1 - 10; 
    myServo1.write(initial_position1); 
    Serial.println(initial_position1);
    delay (100); 
    } 
  }

  if (x_pos > 700)
  {
    if (initial_position1 > 170){ }  
    else
    {
    initial_position1 = initial_position1 + 10;
    myServo1.write(initial_position1);
    Serial.println(initial_position1);
    delay (100);
    }
  }  

   if (y_pos < 300)
  {
    if (initial_position2 < 10) { } 
    else
    {
    initial_position2 = initial_position2 -= 10; 
    myServo2.write(initial_position2); 
    Serial.println(initial_position2);
    delay (100); 
    } 
  }

  if (y_pos > 700)
  {
    if (initial_position2 > 170){ }  
    else
    {
    initial_position2 = initial_position2 + 10;
    myServo2.write(initial_position2);
    Serial.println(initial_position2);
    delay (100);
    }
  }  

}