#include "Servo.h"

const int   Mid       = 512;
const float Kflap     = 0.2;
const float Kairleron = 0.3;

Servo sRight;
Servo sLeft;

char s [90];

void loop() {
    int x     = analogRead (A3);
    int y     = analogRead (A4);
    
    int left  = 90 + (y-Mid) * Kflap - (x-Mid) * Kairleron;
    int right = 90 + (y-Mid) * Kflap + (x-Mid) * Kairleron;

    sprintf (s, " (%4d, %4d)  %3d %3d", x, y, left, right);
    Serial.println (s);

    sLeft.write (left);
    sRight.write (right);
}

void setup() {
    Serial.begin(115200);
    sLeft.attach (4);
    sRight.attach (5);
}