#include <ESP32Servo.h>

#define ESC1_PIN 6  // Left motor
#define ESC2_PIN 7  // Right motor

#define JOY_X_PIN A1
#define JOY_Y_PIN A2

Servo esc1;
Servo esc2;

void setup() {
  Serial.begin(115200);
  
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(ESC1_PIN,OUTPUT);
  pinMode(ESC2_PIN,OUTPUT);
  esc1.attach(ESC1_PIN);
  esc2.attach(ESC2_PIN);

  esc1.writeMicroseconds(1000);
  esc2.writeMicroseconds(1000);
  delay(2000);  // Let ESCs initialize
  
  
}

void loop() {
  int xValue = analogRead(JOY_X_PIN);
  int yValue = analogRead(JOY_Y_PIN);
delay(1000);
Serial.println("start");
  Serial.print("X: ");
  Serial.println(xValue);
  Serial.print(" | Y: ");
  Serial.println(yValue);
  

  int pwmLeft = 1000;
  int pwmRight =1000;

  // Forward motion (both motors)
  if (yValue >3800) {
    int pwm = map(yValue, 3800,4095, 1000, 2000);
    pwmLeft = pwm;
    //analogWrite(ESC1_PIN,pwm);
   // analogWrite(ESC2_PIN,pwm);
 
    pwmRight = pwm;
    Serial.println("Moving Forward");
  

  // Backward motion (optional)
  /*else if (yValue < 400) {
    int pwm = map(yValue, 0, 400, 0, 1000);
    pwmLeft = pwm;
    pwmRight = pwm;
    Serial.println("Moving Backward");
  }
   */
  // Turning left or right by adjusting individual motor speeds
  }else if (xValue < 3000) {
    int turnPWM = map(xValue,  3000, 0,1000, 2000);
    pwmRight = turnPWM;  // Slow down right motor
    Serial.println("Turning Left");
  } else if (xValue > 3800) {
    int turnPWM = map(xValue, 3800, 4095, 1000, 2000);
    pwmLeft = turnPWM;  // Slow down left motor
    Serial.println("Turning Right");
  } else
  {
     esc1.writeMicroseconds(1000);
     esc2.writeMicroseconds(1000);
     Serial.println("Moving ");
  //delay(2000);
  }
 

 esc1.writeMicroseconds(pwmLeft);
  esc2.writeMicroseconds(pwmRight);

  delay(1000);
}