ArduinoChallenge AriiTankWiredNano

//AriiTankWiredNano

//by Kim Grossa

#include <CytronMotorDriver.h>

#include <Servo.h>

//Maker Drive

CytronMD motor1(PWM_PWM, 3, 9);   // PWM 1A = Pin 3, PWM 1B = Pin 9.

CytronMD motor2(PWM_PWM, 10, 11); // PWM 2A = Pin 10, PWM 2B = Pin 11.

//servo

int ServoSpeed=1500;

Servo myServo;

int pos;

int Firepin=7;

//Joystick1

int x1Pin=A0;

int y1Pin=A1;

int sw1Pin=2;

int x1Pos;

int y1Pos;

int sw1Pos;

//Joystick2

int x2Pin=A2;

int y2Pin=A3;

int sw2Pin=4;

int x2Pos;

int y2Pos;

int sw2Pos;

void setup()

{

  //DC motor

  motor1.setSpeed(0);  

  motor2.setSpeed(0);

  //servo 360degree

  myServo.attach(8,1000,2000);

  pinMode(Firepin, OUTPUT);

  

  //Joystick1

  pinMode(x1Pin,INPUT);

  pinMode(y1Pin,INPUT);

  pinMode(sw1Pin,INPUT_PULLUP);

  //Joystick2

  pinMode(x2Pin,INPUT);

  pinMode(y2Pin,INPUT);

  pinMode(sw2Pin,INPUT_PULLUP);

  Serial.begin(9600);

}

void loop() 

{

  //Joystick1

  x1Pos=analogRead(x1Pin);

  y1Pos=analogRead(y1Pin);

  sw1Pos=digitalRead(sw1Pin);

  //Joystick2

  x2Pos=analogRead(x2Pin);

  y2Pos=analogRead(y2Pin);

  sw2Pos=digitalRead(sw2Pin);

  if(x1Pos<=600 || x1Pos>=400 )

  {

    center1();//Joystick1 center

  }

  if(x2Pos<=600 || x2Pos>=400 )

  {

    center2();//Joystick2 center

  }

  

  if(x1Pos>800)

  {

    turnLeft1();//Joystick1 left

  }

  if(x1Pos<200)

  {

    turnRight1();//Joystck1 right

  }

  if(y1Pos>800)

  {

    goForward1();//Joystick1 up

  }

  if(y1Pos<200)

  {

    goBack1();//Joystick1 down

  }

  if(x2Pos<200)

  {

    turnLeft2();//Joystick2 left

  }

  if(x2Pos>800)

  {

    turnRight2();//Joystci2 right

  }

  if(y2Pos<200)

  {

    goForward2();//Joystick2 up

  }

  if(y2Pos>800)

  {

    goBack2();//Joystick2 down

  }

  if(sw1Pos==0)

  {

    sw1ON();//Joystck1 sw on

  }

  if(sw2Pos==0)

  {

    sw2ON();//Joystick2 sw on

  }

}

  void center1()

  {

    //Serial.println("I am center1");

    motor1.setSpeed(0);

    motor2.setSpeed(0);  

  }

  

  void center2()

  {

    //Serial.println("I am center2"); 

    myServo.write(90);     

  }

   

  void turnLeft1()

  {    

    //Serial.println("I am turnLeft1");

    motor1.setSpeed(-255);  

    motor2.setSpeed(0);

  }

  void turnRight1()

  {

    //Serial.println("I am turnRight1");

    motor1.setSpeed(0);  

    motor2.setSpeed(-255);

  }

   void goForward1()

  {

    //Serial.println("I am goForward1");

    motor1.setSpeed(-255);  

    motor2.setSpeed(-255);

  }

  void goBack1()

  {

    //Serial.println("I am goBack1");

    motor1.setSpeed(255);  

    motor2.setSpeed(255); 

  }

   void turnLeft2()

  {

    //Serial.println("I am turnLeft2");

    myServo.write(180);

  }

  void turnRight2()

  {

    //Serial.println("I am turnRight2");

    myServo.write(0); 

  }

   void goForward2()

  {

    //Serial.println("I am goForward2");

  }

  void goBack2()

  {

    //Serial.println("I am goBack2");

  }

    void sw1ON()

  {

    //Serial.println("I am sw1ON");

  }

  void sw2ON()

  {

    //Serial.println("I am sw2ON");

    digitalWrite(Firepin,HIGH);

    delay(1000);

    digitalWrite(Firepin,LOW);

  }