#include <esp32-hal-ledc.h>
#include <ESP32Servo.h>


#define THROTTLE_PIN 36
#define STEERING_PIN 39
#define MOTOR_PWM_PIN 19
#define SERVO_PIN 18

Servo steeringServo;

void setup() {
  Serial.begin(115200);
  ledcAttach(MOTOR_PWM_PIN, 5000, 8); // attach GPIO19 to channel 0
  steeringServo.attach(SERVO_PIN, 500, 2500); // (pin, min us, max us)
}

void loop() {
  int throttleValue = analogRead(THROTTLE_PIN);
  const int threshold = 500;
  int motor_speed = 0;
  if (throttleValue > threshold) {
    motor_speed = map(throttleValue, threshold, 4095, 0, 255);
  } else {
    motor_speed = 0;
  }
  ledcWrite(0, motor_speed);

  int steeringValue = analogRead(STEERING_PIN);
  int angle = map(steeringValue, 0, 4095, -45, 45);
  int servoPos = map(angle, -45, 45, 0, 180);
  steeringServo.write(servoPos);

  Serial.print("Throttle: "); Serial.print(throttleValue);
  Serial.print(" | Motor Speed: "); Serial.print(motor_speed);
  Serial.print(" | Steering angle: "); Serial.print(angle);
  Serial.print(" | Servo Pos: "); Serial.println(servoPos);

  delay(100);
}