#define JOY_1_PIN A0
#define JOY_2_PIN A1

#define MOTOR_STEP1_PIN 2
#define MOTOR_DIR1_PIN 3
#define MOTOR_STEP2_PIN 4
#define MOTOR_DIR2_PIN 5

#define MIN_SPEED 100 // micros
#define MAX_SPEED 2000 //micros
void setup() {
  pinMode(MOTOR_STEP1_PIN, OUTPUT);
  pinMode(MOTOR_DIR1_PIN, OUTPUT);
  pinMode(MOTOR_STEP2_PIN, OUTPUT);
  pinMode(MOTOR_DIR2_PIN, OUTPUT);
}

void loop() {
  int joy1Value = analogRead(JOY_1_PIN);
  int joy2Value = analogRead(JOY_2_PIN); 

  bool dir1 = (joy1Value > 512);
  bool dir2 = (joy2Value > 512);  

  digitalWrite(MOTOR_DIR1_PIN, dir1);
  digitalWrite(MOTOR_DIR2_PIN, dir2);

  // Hız hesaplama (Joystick değeri 0-1023 → 100-2000 µs arasında ölçeklenir)
  int motor1Speed = map(abs(joy1Value - 512), 0, 512, MAX_SPEED, MIN_SPEED);
  int motor2Speed = map(abs(joy2Value - 512), 0, 512, MAX_SPEED, MIN_SPEED);

  if (joy1Value != 512) moveMotor(MOTOR_STEP1_PIN, motor1Speed);
  if (joy2Value != 512) moveMotor(MOTOR_STEP2_PIN, motor2Speed);
}

// Step motor adım fonksiyonu
void moveMotor(int stepPin, int speed) {
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(speed);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(speed);
}