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// Arduino pin numbers
const int SW_pin = 7; // digital pin connected to switch output
const int X_pin = 0; // analog pin connected to X output
const int Y_pin = 1; // analog pin connected to Y output
void setup() {
 pinMode(SW_pin, INPUT);
 digitalWrite(SW_pin, HIGH);
 Serial.begin(115200);
}
void loop() {
 Serial.print("Switch: ");
 Serial.print(digitalRead(SW_pin));
 Serial.print("\n");
 Serial.print("X-axis: ");
 Serial.print(analogRead(X_pin));
 Serial.print("\n");
 Serial.print("Y-axis: ");
 Serial.println(analogRead(Y_pin));
 Serial.print("\n\n");
 delay(500);
}

///////////////////////////////////////////////////////////////////////////

// wired connections
#define B_IA 10 // D10 --> Motor B Input A --> MOTOR B +
#define B_IB 11 // D11 --> Motor B Input B --> MOTOR B -

// functional connections
#define MOTOR_B_PWM B_IA // Motor B PWM Speed
#define MOTOR_B_DIR B_IB // Motor B Direction

// the actual values for "fast" and "slow" depend on the motor
#define PWM_SLOW 50  // arbitrary slow speed PWM duty cycle
#define PWM_FAST 200 // arbitrary fast speed PWM duty cycle
#define DIR_DELAY 1000 // brief delay for abrupt motor changes

// joystick pins
const int SW_pin = 2; // digital pin connected to switch output
const int X_pin = 0; // analog pin connected to X output
const int Y_pin = 1; // analog pin connected to Y output


void setup()

{
   pinMode(SW_pin, INPUT);
 digitalWrite(SW_pin, HIGH);
 Serial.begin( 115200 );

  Serial.begin( 115200 );
  pinMode( MOTOR_B_DIR, OUTPUT );
  pinMode( MOTOR_B_PWM, OUTPUT );
  digitalWrite( MOTOR_B_DIR, LOW );
  digitalWrite( MOTOR_B_PWM, LOW );
}



void loop()

{
  boolean isValidInput;
  // draw a menu on the serial port
  Serial.println( "-----------------------------" );
  Serial.println( "MENU:" );
  Serial.println( "1) Fast forward" );
  Serial.println( "2) Forward" );
  Serial.println( "3) Soft stop (coast)" );
  Serial.println( "4) Reverse" );
  Serial.println( "5) Fast reverse" );
  Serial.println( "6) Hard stop (brake)" );
  Serial.println( "-----------------------------" );
  do

  {
    byte c;
    // get the next character from the serial port
    Serial.print( "?" );
    while( !Serial.available() )
      ; // LOOP...
    c = Serial.read();
    // execute the menu option based on the character recieved
    switch( c )

    {
      case '1': // 1) Fast forward
        Serial.println( "Fast forward..." );
        // always stop motors briefly before abrupt changes
        digitalWrite( MOTOR_B_DIR, LOW );
        digitalWrite( MOTOR_B_PWM, LOW );
        delay( DIR_DELAY );
        // set the motor speed and direction
        digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
        analogWrite( MOTOR_B_PWM, 255-PWM_FAST ); // PWM speed = fast
        isValidInput = true;
        break; 


      case '2': // 2) Forward 
        Serial.println( "Forward..." );
        // always stop motors briefly before abrupt changes
        digitalWrite( MOTOR_B_DIR, LOW );
        digitalWrite( MOTOR_B_PWM, LOW );
        delay( DIR_DELAY );
        // set the motor speed and direction
        digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
        analogWrite( MOTOR_B_PWM, 255-PWM_SLOW ); // PWM speed = slow
        isValidInput = true;
        break; 


      case '3': // 3) Soft stop (preferred)
        Serial.println( "Soft stop (coast)..." );
        digitalWrite( MOTOR_B_DIR, LOW );
        digitalWrite( MOTOR_B_PWM, LOW );
        isValidInput = true;
        break; 


      case '4': // 4) Reverse
        Serial.println( "Fast forward..." );
        // always stop motors briefly before abrupt changes
        digitalWrite( MOTOR_B_DIR, LOW );
        digitalWrite( MOTOR_B_PWM, LOW );
        delay( DIR_DELAY );
        // set the motor speed and direction
        digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
        analogWrite( MOTOR_B_PWM, PWM_SLOW ); // PWM speed = slow
        isValidInput = true;
        break; 

 
      case '5': // 5) Fast reverse
        Serial.println( "Fast forward..." );
        // always stop motors briefly before abrupt changes
        digitalWrite( MOTOR_B_DIR, LOW );
        digitalWrite( MOTOR_B_PWM, LOW );
        delay( DIR_DELAY );
        // set the motor speed and direction
        digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse 
        analogWrite( MOTOR_B_PWM, PWM_FAST ); // PWM speed = fast
        isValidInput = true;
        break; 


      case '6': // 6) Hard stop (use with caution)
        Serial.println( "Hard stop (brake)..." );
        digitalWrite( MOTOR_B_DIR, HIGH );
        digitalWrite( MOTOR_B_PWM, HIGH );
        isValidInput = true;
        break; 

      default:
        // wrong character! display the menu again!
        isValidInput = false;
        break;
    }

  } while( isValidInput == true );

  // repeat the main loop and redraw the menu...

}
///////////////////////////////////////////////////////////////////////////////////////////
// normal
X-axis: 502
Y-axis: 521

// Switch: up towrds leeter
X-axis: 0
Y-axis: 521

// switch : down opposite of letters
X-axis: 1023
Y-axis: 521


//switch
Switch:right
X-axis: 502
Y-axis: 0

//switch left
Switch: 1
X-axis: 502
Y-axis: 1023
//////////////////////////////////////////////////////////////////////////////////////

// Arduino pin numbers
const int SW_pin = 2; // digital pin connected to switch output
const int X_pin = 0; // analog pin connected to X output
const int Y_pin = 1; // analog pin connected to Y output

int M1_Left = 8; //Motor Input 1
int M1_Right = 9; //Motor Input 2
int M2_Left = 11; //Motor Input 1
int M2_Right = 12; //Motor Input 2

void setup() {
 pinMode(SW_pin, INPUT);
 digitalWrite(SW_pin, HIGH);
 Serial.begin(115200);
}
void loop() {
 Serial.print("Switch: ");
 Serial.print(digitalRead(SW_pin));
 Serial.print("\n");
 Serial.print("X-axis: ");
 Serial.print(analogRead(X_pin));
 Serial.print("\n");
 Serial.print("Y-axis: ");
 Serial.println(analogRead(Y_pin));
 Serial.print("\n\n");
 delay(500);

if (analogRead(X_pin) >520)
{
  forward(255);
}

else if (analogRead(X_pin)<470)
{
 reverse(255);
}

else if ( analogRead(Y_pin)>500)
{
  analogWrite (M2_Left, 0); //Motor Input 1
 analogWrite(M2_Right , 255); //Motor Input 2
 //analogWrite (M2_Left, 0); //Motor Input 1
// analogWrite(M2_Right , 0); //Motor Input 2
}

else if ( analogRead(Y_pin)<485)
{
  analogWrite (M1_Left, 0); //Motor Input 1
 analogWrite(M1_Right , 255); //Motor Input 2
 //analogWrite (M2_Left, 0); //Motor Input 1
// analogWrite(M2_Right , 0); //Motor Input 2
}
 else
    stop();

}

void forward (int rate)
{

 int inPin1 = LOW;
 int inPin2 = rate;
 analogWrite(M1_Left, inPin1);
 analogWrite(M1_Right , inPin2);

 analogWrite(M2_Left, inPin1);
 analogWrite(M2_Right , inPin2);
 delay(1000);

}
void reverse (int rate)
{

 int inPin1 = rate;
 int inPin2 = LOW;
 analogWrite(M1_Left, inPin1);
 analogWrite(M1_Right , inPin2);

 analogWrite(M2_Left, inPin1);
 analogWrite(M2_Right , inPin2);
delay (1000);

}
void stop()
{

 int inPin1 = LOW;
 int inPin2 = LOW;
 digitalWrite(M1_Left, LOW);
 digitalWrite(M1_Right , LOW);

 digitalWrite(M2_Left, LOW);
 digitalWrite(M2_Right , LOW);
}


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