import machine
import utime

x_pot_pin = 26  # ADC pin for X-axis
y_pot_pin = 27  # ADC pin for Y-axis
forward_pin=0
right_pin=1
backward_pin=2
left_pin=3

forward=machine.Pin(forward_pin,machine.Pin.OUT)
right=machine.Pin(right_pin,machine.Pin.OUT)
backward=machine.Pin(backward_pin,machine.Pin.OUT)
left=machine.Pin(left_pin,machine.Pin.OUT)

forward.value(0)
right.value(0)
backward.value(0)
left.value(0)

x_pot = machine.ADC(x_pot_pin)
y_pot = machine.ADC(y_pot_pin)

while True:
    x_value = x_pot.read_u16()
    y_value = y_pot.read_u16()

    # Normalize values to a range of 0 to 1023
    x_normalized = (x_value - 0) / (65535 - 0) * 1023
    y_normalized = (y_value - 0) / (65535 - 0) * 1023

    print("x_value = ", x_normalized)
    utime.sleep(0.25)
    print("y_value = ", y_normalized)
    utime.sleep(0.25)

    if x_normalized>500 and y_normalized>1000:
        forward.value(1)
        right.value(0)
        backward.value(0)
        left.value(0)

    elif x_normalized<500 and y_normalized>500:
        forward.value(0)
        right.value(1)
        backward.value(0)
        left.value(0)

    elif x_normalized>500 and y_normalized<20:
        forward.value(0)
        right.value(0)
        backward.value(1)
        left.value(0)

    elif x_normalized>900 and y_normalized>500:
        forward.value(0)
        right.value(0)
        backward.value(0)
        left.value(1)

    else:
        forward.value(0)
        right.value(0)
        backward.value(0)
        left.value(0)