pantilt-endlimit

/*
 * Switch test program
 * with end limit switches by v12345vtm
 */

 /*
Changing the PWM frequency on Pins 11 and 3
Setting	Divisor	Frequency
0x01	1	31250  //should not be able to hear this though the frequency is a little high for the l298
0x02	8	3906.25
0x03	32	976.5625
0x04	64	488.28125 // default
0x05	128	244.140625
0x06	256	122.0703125
0x07	1024	30.517578125 //here is also good..in theroy but may be a little to low for the dc motor
*/


int potx = A0; // analog pin 0, connected to VRx on the joystick board
int poty = A1; // analog pin 1, connected to VRy on the joystick board
// The joystick board 5 volts needs to be connected to the Arduino 5 volts pin
// The joystick board ground needs to be connected to an Arduino ground pin

int FDCX1 = A2;
int FDCX2 = A3;
int FDCY1 = A4;
int FDCY2 = A5;

int motorX = 3; //Digital pin 3, connected to Enable pin A(ENA) on the L298N
int motorY = 11; //Digital pin 11, connected to Enable pin B(ENB) on the L298N

int IN1 = 4; //Digital pin 4, connected to IN1 on the L298N
int IN2 = 5; //Digital pin 5, connected to IN2 on the L298N
int IN3 = 6; //Digital pin 6, connected to IN3 on the L298N
int IN4 = 7; //Digital pin 7, connected to IN4 on the L298N
// The L298N ground needs to be connected to an Arduino ground pin.
// In the L298N one DC motor terminals will be connected to OUT1 and OUT2 and the second DC motor to OUT3 and OUT4
// polarity in the motors is determined by the direction that you want for pan and tilt.

int value = 6; //4 being the default giving  488.28125hz

int CenterX = 0;
int CenterY = 0;

void setup()                    // run once, when the sketch starts
{
  Serial.begin(115200);           // set up Serial library at 9600 bps
  pinMode(potx, INPUT);
  pinMode(poty, INPUT);
  pinMode(motorX, OUTPUT);
  pinMode(motorY, OUTPUT);
  pinMode (IN1, OUTPUT);
  pinMode (IN2, OUTPUT);
  pinMode (IN3, OUTPUT);
  pinMode (IN4, OUTPUT);




 pinMode (FDCX1, INPUT_PULLUP);
  pinMode (FDCX2, INPUT_PULLUP);
  pinMode (FDCY1, INPUT_PULLUP);
  pinMode (FDCY2, INPUT_PULLUP);

  TCCR2B = (TCCR2B & 0xF8) | value;// change the value of the (Timer 2 pins 11, 3?) register to a value ranging between 1 - 7

  CenterX = analogRead(potx); // Get the center x value in the joystick
  CenterY = analogRead(poty); // Get the center y value in the joystick

}

int getPotX() {
  int v;
  v = analogRead(potx);
  return v;
}
int getPotY() {
  int v;
  v = analogRead(poty);
  return v;
}

int moveMotorX() {
int ValueX = getPotX();
      Serial.print("potx=");
        Serial.print(ValueX);

  if( ValueX < CenterX ){
    digitalWrite (IN1, HIGH);
    digitalWrite (IN2, LOW);
    ValueX = CenterX - ValueX;
    ValueX /= 4;
    ValueX = max(ValueX, 0);
    ValueX = min(ValueX, 255);
    analogWrite(motorX, ValueX);

    if( digitalRead(FDCX2) == 0)
{
  ValueX = CenterX;
     digitalWrite (IN1, LOW);
    digitalWrite (IN2, LOW);
  }

  }
  else{
    digitalWrite (IN1, LOW);
    digitalWrite (IN2, HIGH);
    ValueX = ValueX - CenterX;
    ValueX /= 4;
    ValueX = max(ValueX, 0);
    ValueX = min(ValueX, 255);
    analogWrite(motorX, ValueX);


    if( digitalRead(FDCX1) == 0)
{
  ValueX = CenterX;
     digitalWrite (IN1, LOW);
    digitalWrite (IN2, LOW);
  }


  }





}
int moveMotorY() {

  int ValueY = getPotY();

        Serial.print("       poty=");
        Serial.println(ValueY);
  if( ValueY < CenterY ){
    digitalWrite (IN3, HIGH);
    digitalWrite (IN4, LOW);
    ValueY = CenterY - ValueY;
    ValueY /= 4;
    ValueY = max(ValueY, 0);
    ValueY = min(ValueY, 255);
    analogWrite(motorY, ValueY);


        if( digitalRead(FDCY1) == 0)
{
  ValueY = CenterY;
     digitalWrite (IN3, LOW);
    digitalWrite (IN4, LOW);
  }
  }
  else{
    digitalWrite (IN3, LOW);
    digitalWrite (IN4, HIGH);
    ValueY = ValueY - CenterY;
    ValueY /= 4;
    ValueY = max(ValueY, 0);
    ValueY = min(ValueY, 255);
    analogWrite(motorY, ValueY);


        if( digitalRead(FDCY2) == 0)
{
  ValueY = CenterY;
     digitalWrite (IN3, LOW);
    digitalWrite (IN4, LOW);
  }

  }
}

void loop()                     // run over and over again
{
  moveMotorX();
  moveMotorY();

  Serial.print(digitalRead(FDCX1));
  Serial.print(digitalRead(FDCX2));
    Serial.print("  ");
  Serial.print(digitalRead(FDCY1));
  Serial.println(digitalRead(FDCY2));



}