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	- Project: # Motor Control
	- Version: 002
	- Source Code compiled for: Arduino Uno
	- Source Code created on: 2026-03-21 00:03:04

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* Read X and Y axis values from the joystick using */
	/* analog pins A0 and A1 */
/****** SYSTEM REQUIREMENT 2 *****/
	/* Control motor speed and direction based on */
	/* joystick Y axis: forward when pushed up, backward */
	/* when pushed down, stopped when centered */
/****** SYSTEM REQUIREMENT 3 *****/
	/* Use PWM pin 5 to control motor speed and pins 8,9 */
	/* to control motor direction via L298N motor driver */
/****** END SYSTEM REQUIREMENTS *****/


/* START CODE */

/***** DEFINITION OF ANALOG INPUT PINS *****/
// SYSTEM REQUIREMENT 1: Joystick X axis on analog pin A0
const uint8_t JOYSTICK_X_PIN = A0;
// SYSTEM REQUIREMENT 1: Joystick Y axis on analog pin A1
const uint8_t JOYSTICK_Y_PIN = A1;

/***** DEFINITION OF MOTOR CONTROL PINS *****/
// SYSTEM REQUIREMENT 3: PWM pin 5 for motor speed control
const uint8_t MOTOR_ENABLE_PIN = 5;
// SYSTEM REQUIREMENT 3: Pins 8,9 for motor direction control via L298N
const uint8_t MOTOR_IN1_PIN = 8;
const uint8_t MOTOR_IN2_PIN = 9;

/***** DEFINITION OF JOYSTICK VARIABLES *****/
// SYSTEM REQUIREMENT 1: Variable to store X axis value
int joystickXValue = 0;
// SYSTEM REQUIREMENT 1: Variable to store Y axis value
int joystickYValue = 0;

// Joystick center position threshold (for detecting centered position)
const int JOYSTICK_CENTER = 512;
const int JOYSTICK_THRESHOLD = 50;

// Motor speed variable (0-255 for PWM)
uint8_t motorSpeed = 0;

/****** MOTOR CONTROL FUNCTIONS (L298N replacement) *****/
// Function to set motor forward direction
void motorForward(uint8_t speed)
{
	// SYSTEM REQUIREMENT 3: Set motor direction to forward (IN1=HIGH, IN2=LOW)
	digitalWrite(MOTOR_IN1_PIN, HIGH);
	digitalWrite(MOTOR_IN2_PIN, LOW);
	// Set motor speed using PWM on enable pin
	analogWrite(MOTOR_ENABLE_PIN, speed);
}

// Function to set motor backward direction
void motorBackward(uint8_t speed)
{
	// SYSTEM REQUIREMENT 3: Set motor direction to backward (IN1=LOW, IN2=HIGH)
	digitalWrite(MOTOR_IN1_PIN, LOW);
	digitalWrite(MOTOR_IN2_PIN, HIGH);
	// Set motor speed using PWM on enable pin
	analogWrite(MOTOR_ENABLE_PIN, speed);
}

// Function to stop the motor
void motorStop(void)
{
	// SYSTEM REQUIREMENT 3: Stop motor (both IN1 and IN2 LOW, speed 0)
	digitalWrite(MOTOR_IN1_PIN, LOW);
	digitalWrite(MOTOR_IN2_PIN, LOW);
	// Stop the motor by setting speed to 0
	analogWrite(MOTOR_ENABLE_PIN, 0);
}

void setup(void)
{
	// Initialize serial communication for debugging
	Serial.begin(9600);
	
	// Configure joystick pins as inputs
	pinMode(JOYSTICK_X_PIN, INPUT);
	pinMode(JOYSTICK_Y_PIN, INPUT);
	
	// SYSTEM REQUIREMENT 3: Configure motor control pins
	pinMode(MOTOR_ENABLE_PIN, OUTPUT);
	pinMode(MOTOR_IN1_PIN, OUTPUT);
	pinMode(MOTOR_IN2_PIN, OUTPUT);
	
	// Initialize motor to stopped state
	motorStop();
	
	Serial.println("Joystick Motor Control System Initialized");
	Serial.println("Push joystick UP for forward, DOWN for backward");
}

void loop(void)
{
	// SYSTEM REQUIREMENT 1: Read joystick values
	readJoystick();
	
	// SYSTEM REQUIREMENT 2: Control motor based on joystick input
	controlMotor();
	
	// Small delay for stability
	delay(50);
}

// SYSTEM REQUIREMENT 1: Function to read X and Y axis values from analog pins A0 and A1
void readJoystick(void)
{
	// SYSTEM REQUIREMENT 1: Read X axis from analog pin A0
	joystickXValue = analogRead(JOYSTICK_X_PIN);
	
	// SYSTEM REQUIREMENT 1: Read Y axis from analog pin A1
	joystickYValue = analogRead(JOYSTICK_Y_PIN);
	
	// Debug output to serial monitor
	Serial.print("Joystick X: ");
	Serial.print(joystickXValue);
	Serial.print(" | Joystick Y: ");
	Serial.println(joystickYValue);
}

// SYSTEM REQUIREMENT 2: Function to control motor speed and direction based on joystick Y axis
void controlMotor(void)
{
	// SYSTEM REQUIREMENT 2: Check if joystick is pushed up (Y value higher than center + threshold)
	if (joystickYValue > (JOYSTICK_CENTER + JOYSTICK_THRESHOLD))
	{
		// Forward direction: joystick pushed up
		// Map joystick value (513-1023) to motor speed (0-255)
		motorSpeed = map(joystickYValue, JOYSTICK_CENTER + JOYSTICK_THRESHOLD, 1023, 0, 255);
		
		// Constrain motor speed to valid PWM range
		motorSpeed = constrain(motorSpeed, 0, 255);
		
		// SYSTEM REQUIREMENT 3: Set motor speed using PWM pin 5 and direction using pins 8,9
		motorForward(motorSpeed);
		
		Serial.print("FORWARD - Speed: ");
		Serial.println(motorSpeed);
	}
	// SYSTEM REQUIREMENT 2: Check if joystick is pushed down (Y value lower than center - threshold)
	else if (joystickYValue < (JOYSTICK_CENTER - JOYSTICK_THRESHOLD))
	{
		// Backward direction: joystick pushed down
		// Map joystick value (0-511) to motor speed (0-255)
		motorSpeed = map(joystickYValue, 0, JOYSTICK_CENTER - JOYSTICK_THRESHOLD, 255, 0);
		
		// Constrain motor speed to valid PWM range
		motorSpeed = constrain(motorSpeed, 0, 255);
		
		// SYSTEM REQUIREMENT 3: Set motor speed using PWM pin 5 and direction using pins 8,9
		motorBackward(motorSpeed);
		
		Serial.print("BACKWARD - Speed: ");
		Serial.println(motorSpeed);
	}
	// SYSTEM REQUIREMENT 2: Joystick is centered - stop motor
	else
	{
		// Motor stopped when joystick is centered
		motorStop();
		
		Serial.println("STOPPED - Joystick Centered");
	}
}

/* END CODE */