// JOYSTICK Operated ROBOT...

/* Program to display Serial Monitor:
	Remove commented part to check input from Serial Monitor for testing & Calibration
	(Ensure the other part of the code is commented out)

    int A = A0;   // Analog PIN
    void setup()
    {
        Serial.begin(9600);
        pinMode(A,INPUT);
    }
    void loop()
    {
        int s = analogRead(A);
        serial.println(s);
    }
    
 OUTPUT:::
      The Values of Serial Monitor for...
      X+ = 275        X = 336       X- = 394 
      Y+ = 283        Y = 335       Y- = 376
*/

// OUTPUT from Accelerometer
int A = A0;       // Analog output
int B = A1;

// MOTOR 1
int M1 = 6;
int M2 = 7;

// MOTOR 2
int M3 = 8;
int M4 = 9;

void setup()
{
    Serial.begin (9600);
    pinMode(A,INPUT);
    pinMode(B,INPUT);
    pinMode(M1,OUTPUT);
    pinMode(M2,OUTPUT);
    pinMode(M3,OUTPUT);
    pinMode(M4,OUTPUT);
}

void loop()
{
    int s1 = analogRead(A);
    int s2 = analogRead(B);

    if (s1>540 && s2<540 && s2>500) 
        Forward();
    else if(s1<500 && s2<540 && s2>500) 
        Backward();
    else if(s2>540 && s1<540 && s1>500) 
        Right();
    else if(s2<500 && s1<540 && s1>500)
        Left();
    else if(s1<540 && s1>500 && s2<540 && s2>500) 
        Steady();
}

void Forward()
{
    digitalWrite(M1,HIGH);
    digitalWrite(M2,LOW);
    digitalWrite(M3,HIGH);
    digitalWrite(M4,LOW);
}
void Backward()
{
    digitalWrite(M1,LOW);
    digitalWrite(M2,HIGH);
    digitalWrite(M3,LOW);
    digitalWrite(M4,HIGH);
}
void Left()
{
    digitalWrite(M1,LOW);
    digitalWrite(M2,LOW);
    digitalWrite(M3,HIGH);
    digitalWrite(M4,LOW);
}
void Right()
{
    digitalWrite(M1,HIGH);
    digitalWrite(M2,LOW);
    digitalWrite(M3,LOW);
    digitalWrite(M4,LOW);
}
void Steady()
{
    digitalWrite(M1,LOW);
    digitalWrite(M2, LOW);
    digitalWrite(M3,LOW);
    digitalWrite(M4,LOW);
}