// Kayla Frost 300390878
// Sprint 1 Project
// Oct. 28, 2025

// Include servo library for the Servo motor
#include <Servo.h>

// ---------------- Variables ----------------

// LED
const int tled = 11; // turquoise LED connected to pin 11

// Servo
const int ServoPin = 12; // Servo is attached to pin 12
Servo myservo;
int angle = 0; // Servo position (0–180)

// Joystick pins
const int xPin = A0; // horizontal (blue wire)
const int yPin = A1; // vertical (green wire)
const int buttonPin = 9; // joystick button (magenta wire)

// Joystick readings
int xValue;
int yValue;
int buttonState;

// Joystick offsets
int xOffset = 0;
int yOffset = 0;

// Dead zone
const int threshold = 200; // threshold for X movement

// ---------------- Setup ----------------
void setup() {
  // LED setup
  pinMode(tled, OUTPUT);
  digitalWrite(tled, HIGH); // LED off initially

  // Servo setup
  myservo.attach(ServoPin);
  myservo.write(0); // start position

  // Joystick pins
  pinMode(xPin, INPUT);
  pinMode(yPin, INPUT);
  pinMode(buttonPin, INPUT_PULLUP);

  // Serial for debugging
  Serial.begin(9600);
}

// ---------------- Loop ----------------
void loop() {
  // Read joystick
  xValue = analogRead(xPin);
  yValue = analogRead(yPin);
  buttonState = digitalRead(buttonPin);

  // LED control (active-low)
  if (buttonState == LOW) {
    digitalWrite(tled, LOW); // LED ON
  } else {
    digitalWrite(tled, HIGH); // LED OFF
  }

  // Center joystick around 0
  xOffset = xValue - 512;
  yOffset = yValue - 512;

  // Servo control (discrete directions)
  if (yOffset > 0) { // only move forward
    if (xOffset > threshold) {
      angle = 90;   // Forward + Right
    } else if (xOffset < -threshold) {
      angle = 0;    // Forward + Left
    } else {
      angle = 45;   // Forward straight (center)
    }
  } else {
    angle = 0; // do not move backward
  }

  myservo.write(angle);

  // Debugging info
  Serial.print("X: "); Serial.print(xValue);
  Serial.print(" | Y: "); Serial.print(yValue);
  Serial.print(" | Xoffset: "); Serial.print(xOffset);
  Serial.print(" | Yoffset: "); Serial.print(yOffset);
  Serial.print(" | Servo: "); Serial.println(angle);

  delay(20);
}