#include <Servo.h>

Servo myServo;                // 创建伺服电机对象
const int servoPin = 4;       // 伺服电机连接的引脚
const int Y_pin = A1;         // Joystick Y轴引脚

// Joystick 阈值
const int THRESHOLD_LOW = 400;
const int THRESHOLD_HIGH = 600;
const int CENTER_THRESHOLD = 50;

int currentAngle = 90; // 初始伺服位置（90度为中间位置）

void setup() {
  myServo.attach(servoPin);         
  myServo.write(currentAngle);       // 初始化伺服电机到中间位置90度
  Serial.begin(9600);
}

void loop() {
  checkJoystickAndMoveServo();
  delay(15);
}

void checkJoystickAndMoveServo() {
  int yValue = analogRead(Y_pin);

  // 向上转动
  if (yValue > THRESHOLD_HIGH && currentAngle < 180) {    //limit the maximum angle
    currentAngle = currentAngle + 2;                                       //change the rotation speed
    myServo.write(currentAngle);
  }
  // 向下转动
  else if (yValue < THRESHOLD_LOW && currentAngle > 0) {
    currentAngle--;                                       //change the rotation speed
    myServo.write(currentAngle);
  }

  Serial.println(currentAngle);
}