#include <SoftwareSerial.h>
#define DEBUG true

#include <Servo.h>

SoftwareSerial esp8266(0,1);


// Create servo objects
Servo panServo;
Servo tiltServo;

// Center servos
int tiltVal = 90;
int panVal =90;

char letter;




void setup() {

  letter = 'A';
 panServo.attach(11);
  tiltServo.attach(10);


  Serial.begin(9600); //for monitoring purposes

   Serial.println("Android Sensor Type No: ");
  Serial.println("1- ACCELEROMETER  (m/s^2 - X,Y,Z)");
  Serial.println("2- GYROSCOPE (rad/s - X,Y,Z)");
  Serial.flush()
esp8266.begin(9600); // your esp's baud rate might be different

 ;


sendCommand("AT+RSTrn",2000,DEBUG); // reset module
sendCommand("AT+IPR=115200rn",1000,DEBUG);
sendCommand("AT+CWMODE=1rn",1000,DEBUG); // configure as access point
sendCommand("AT+CWJAP="ABCDEFG","12345678"rn",3000,DEBUG); //connect to a network with name ABCDEFG with password 12345678
delay(1000);
//sendCommand("AT+CIFSRrn",1000,DEBUG); // get ip address
sendCommand("AT+CIPSTA="192.168.43.16"rn",1000,DEBUG);
sendCommand("AT+CIPMUX=1rn",1000,DEBUG); // configure for multiple connections
sendCommand("AT+CIPSERVER=1,6625rn",1000,DEBUG); // turn on server on port 6625
Serial.println("Server Ready");

}

void loop() {
   Serial.flush();
  int inCommand = 0;
  int sensorType = 0;
  unsigned long logCount = 0L;

  char A = ' ';  //read serial

  // wait for incoming data
  if (Serial.available() < 1) return; // if serial empty, return to loop().

  // parse incoming command start flag
  A = Serial.read();
  if (A != A) return; // if no command start flag, return to loop().

  // parse incoming pin# and value
  sensorType = Serial.parseInt(); // read sensor typr
  logCount = Serial.parseInt();  // read total logged sensor readings
  value0 = Serial.parseFloat();  // 1st sensor value
  value1 = Serial.parseFloat();  // 2rd sensor value if exists
  value2 = Serial.parseFloat();  // 3rd sensor value if exists

  // send sensoduino readings to serial monitor/terminal
  if (DEBUG) {
    Serial.print("Sensor type: ");
    Serial.println(sensorType);
    Serial.print("Sensor log#: ");
    Serial.println(logCount);
    Serial.print("Val[0]: ");
    Serial.println(value0);
    Serial.print("Val[1]: ");
    Serial.println(value1);
    Serial.print("Val[2]: ");
    Serial.println(value2);
    Serial.println("-----------------------");
    delay(10);
  }

// Check sensor type. If not for  Accelerometer (#1) then ignore readings
// sensorType 1 is the Accelerometer sensor

  if (sensorType !=1) return;

  panVal = value0; // value0 = X sensor reading
  tiltVal = value1;  // value1 = Y sensor reading

  tiltVal = map(tiltVal, 10, -10, 0, 179);   // Map Accelerometer Y value to tilt servo angle.
  tiltServo.write(tiltVal);
  delay(10);

  panVal = map(panVal, -10, 10, 0, 179);  // Map Accelerometer X value to pan servo angle.
  panServo.write(panVal);
  delay(10);

}