#include <Servo.h>

// Define servos
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;

// Define joystick pins
int joyX = A0;
int joyY = A1;

void setup() {
  // Attach servos to Arduino pins
  servo1.attach(3);
  servo2.attach(5);
  servo3.attach(6);
  servo4.attach(9);

  // Initialize serial communication
  Serial.begin(9600);
}

void loop() {
  // Read joystick values
  int xVal = analogRead(joyX);
  int yVal = analogRead(joyY);

  // Map joystick values to servo angles (0 to 180)
  int servoPos1 = map(yVal, 0, 1023, 0, 180);
  int servoPos2 = map(yVal, 0, 1023, 180, 0);
  int servoPos3 = map(xVal, 0, 1023, 0, 180);
  int servoPos4 = map(xVal, 0, 1023, 180, 0);

  // Control servos based on joystick movement
  servo1.write(servoPos1);
  servo2.write(servoPos2);
  servo3.write(servoPos3);
  servo4.write(servoPos4);

  // Debug output
  Serial.print("X: ");
  Serial.print(xVal);
  Serial.print(" Y: ");
  Serial.print(yVal);
  Serial.print(" Servo1: ");
  Serial.print(servoPos1);
  Serial.print(" Servo2: ");
  Serial.print(servoPos2);
  Serial.print(" Servo3: ");
  Serial.print(servoPos3);
  Serial.print(" Servo4: ");
  Serial.println(servoPos4);

  delay(50); // Small delay to prevent excessive updates
}