//Ingeimaks
#include <Servo.h>
//definiamo i servomotori orizzontale e verticale
Servo servohori;
int servoh = 0;
int servohLimitHigh = 160;
int servohLimitLow = 60;

Servo servoverti;
int servov = 0;
int servovLimitHigh = 160;
int servovLimitLow = 60;
//Pin fotoresistenze
int ldrtopl = 2;//1;//2; //top left
int ldrtopr = 1;//2;//1; //top right
int ldrbotl = 4;//3;//3; // bottom left
int ldrbotr = 3;//4;//0; // bottom right

void setup ()
{
  servohori.attach(9);
  servohori.write(60);
  servoverti.attach(10);
  servoverti.write(60);
  Serial.begin(9600);
  delay(500);

}

void loop()
{
  /*
    servoverti.write(60);
    servohori.write(60);
    delay(5000);
    servoverti.write(160);
    servohori.write(160);
    delay(5000);
    }*/

  servoh = servohori.read();
  servov = servoverti.read();
  //Valore Analogico delle fotoresistenza
  int topl = analogRead(ldrtopl);
  int topr = analogRead(ldrtopr);
  int botl = analogRead(ldrbotl);
  int botr = analogRead(ldrbotr);
  Serial.println("---------------");
  Serial.print(topl);
  Serial.print("  ");
  Serial.print(topr);
  Serial.println("  ");
  Serial.print(botl);
  Serial.print("  ");
  Serial.print(botr);
  Serial.println("  ");
  Serial.println("***************");
  // Calcoliamo una Media
  int avgtop = (topl + topr) ; //average of top
  int avgbot = (botl + botr) ; //average of bottom
  int avgleft = (topl + botl) ; //average of left
  int avgright = (topr + botr) ; //average of right

  if (avgtop < avgbot)
  {
    servoverti.write(servov + 1);
    if (servov > servovLimitHigh)
    {
      servov = servovLimitHigh;
    }
    delay(10);
  }
  else if (avgbot < avgtop)
  {
    servoverti.write(servov - 1);
    if (servov < servovLimitLow)
    {
      servov = servovLimitLow;
    }
    delay(10);
  }
  else
  {
    servoverti.write(servov);
  }

  if (avgleft > avgright)
  {
    servohori.write(servoh + 1);
    if (servoh > servohLimitHigh)
    {
      servoh = servohLimitHigh;
    }
    delay(10);
  }
  else if (avgright > avgleft)
  {
    servohori.write(servoh - 1);
    if (servoh < servohLimitLow)
    {
      servoh = servohLimitLow;
    }
    delay(10);
  }
  else
  {
    servohori.write(servoh);
  }
  delay(50);
}