// Define joystick pins
const int Xpin = A0; // Joystick X-axis for speed control
const int Ypin = A1; // Joystick Y-axis for direction control

// Define motor driver pins
const int speedPin = 11; // PWM pin for motor speed
const int dir1 = 9;      // Direction control pin 1
const int dir2 = 10;     // Direction control pin 2

// Variables to store joystick values
int Xval = 0;
int Yval = 0;

// Define dead zone for joystick to prevent unintentional motor movement
const int deadZone = 50;

void setup() {
  // Initialize serial communication
  Serial.begin(9600);

  // Set motor pins as outputs
  pinMode(speedPin, OUTPUT);
  pinMode(dir1, OUTPUT);
  pinMode(dir2, OUTPUT);

  // Set joystick pins as inputs
  pinMode(Xpin, INPUT);
  pinMode(Ypin, INPUT);
}

void loop() {
  // Read joystick values
  Xval = analogRead(Xpin); // Read speed control value
  Yval = analogRead(Ypin); // Read direction control value

  // Map X-axis joystick value to motor speed (0 to 255)
  int motorSpeed = map(Xval, 0, 1023, 0, 255);

  // Determine motor direction based on Y-axis joystick value
  if (Yval > (512 + deadZone)) {
    // Forward direction
    digitalWrite(dir1, LOW);
    digitalWrite(dir2, HIGH);
  } else if (Yval < (512 - deadZone)) {
    // Backward direction
    digitalWrite(dir1, HIGH);
    digitalWrite(dir2, LOW);
  } else {
    // Stop motor (dead zone)
    digitalWrite(dir1, LOW);
    digitalWrite(dir2, LOW);
    motorSpeed = 0; // Set speed to 0
  }

  // Apply motor speed
  analogWrite(speedPin, motorSpeed);

  // Print joystick and motor status to the serial monitor
  Serial.print("X Value = ");
  Serial.print(Xval);
  Serial.print(", Y Value = ");
  Serial.print(Yval);
  Serial.print(", Motor Speed = ");
  Serial.print(motorSpeed);
  Serial.print(", Motor Direction = ");
  if (Yval > (512 + deadZone)) {
    Serial.println("Forward");
  } else if (Yval < (512 - deadZone)) {
    Serial.println("Backward");
  } else {
    Serial.println("Stopped");
  }

  // Short delay before next loop iteration
  delay(100);
}