#include <AFMotor.h>

AF_Stepper motorX(200, 1); // 200 steps per revolution, motor port 1
AF_Stepper motorY(200, 2); // 200 steps per revolution, motor port 2

const int xAxisPin = A0;
const int yAxisPin = A1;
const int joystickThreshold = 50; // Adjust the threshold as needed

void setup() {
  Serial.begin(9600);
  Serial.println("AFMotor Library - Joystick Control");

  motorX.setSpeed(300);
  motorY.setSpeed(300);

  pinMode(xAxisPin, INPUT);
  pinMode(yAxisPin, INPUT);
}

void loop() {
  int xValue = analogRead(xAxisPin);
  int yValue = analogRead(yAxisPin);

  int motorSpeedX = map(xValue, 0, 1023, -255, 255);
  int motorSpeedY = map(yValue, 0, 1023, -255, 255);

  // Control motor X with the X-axis
  controlStepper(&motorX, motorSpeedX);

  // Control motor Y with the Y-axis
  controlStepper(&motorY, motorSpeedY);

  delay(10);
}

void controlStepper(AF_Stepper *stepper, int speed) {
  if (abs(speed) > joystickThreshold) {
    stepper->setSpeed(abs(speed)); // Set the speed based on joystick input magnitude
    if (speed > 0) {
      stepper->step(1, FORWARD, SINGLE); // 1 step, FORWARD direction
    } else {
      stepper->step(1, BACKWARD, SINGLE); // 1 step, BACKWARD direction
    }
  } else {
    stepper->release(); // Release the motor if joystick input is below the threshold
  }
}