code.cpp

const int dimensionY = 26;
const int dimensionX = 25;
int midX;
int midY;
int x = 0;
int y = 0;
int xVal, yVal, mainMotor, rightMotor, leftMotor;
float diffDeg;
float diffValue;
float diffMotor;

void setup() {
  Serial.begin(115200);
  pinMode(dimensionY, INPUT);
  pinMode(dimensionX, INPUT);
  analogReadResolution(10);
}

void loop() { //middle value for joystick midX = analogRead(dimensionX); midY = analogRead(dimensionY);
  x = analogRead(dimensionX);
  y = analogRead(dimensionY);
  joyStick();
}

int joyStick() {
  xVal = map(x, midX, 1023, 0, 400); yVal = map(y, midY, 0, 0, 400);
  diffDeg = atan2(yVal, xVal) * 180 / 3.1415;

  if (diffDeg < 0) {
    diffDeg += 360;
  }

  if (diffDeg < 90) {
    diffValue = map(diffDeg, 0, 90, 0, 100);

    if (diffDeg < 45) {
      mainMotor = xVal;
    } else {
      mainMotor = yVal;
    }

  } else if (diffDeg < 190) {
    diffValue = map(diffDeg, 90, 180, 100, 0);
    if (diffDeg < 135) {
      mainMotor = abs(yVal);
    } else {
      mainMotor = abs(xVal);
    }
  } else if (diffDeg < 270)
  {
    diffValue = map(diffDeg, 180, 270, 0, 100);
    if (diffDeg < 225) {
      mainMotor = xVal;
    } else {
      mainMotor = yVal;
    }
  } else {
    diffValue = map(diffDeg, 270, 360, 100, 0);
    if (diffDeg < 315) {
      mainMotor = yVal;
    } else {
      mainMotor = -xVal;
    }
  }

  mainMotor = constrain(mainMotor, -400, 400);

  if (abs(mainMotor) < 15) {
    mainMotor = 0;
  }
  diffMotor = mainMotor * diffValue / 100;

  if (diffDeg > 90 && diffDeg < 270) {
    rightMotor = diffMotor; leftMotor = mainMotor;
  } else {
    rightMotor = mainMotor; leftMotor = diffMotor;
  }
  // Serial.print(rightMotor);
  // Serial.print(",");
  // Serial.println(leftMotor);
}