#include <SPI.h>
#include <RF24.h>
#define M2A 7 //right forward
#define M2B 8 //right backward
#define M2 6
#define M1 5
#define M1A 3 //left forward
#define M1B 4 //right backward

#define CE 9
#define CSN 10

RF24 radio(CE, CSN);

int accAngleX, accAngleY;

const uint64_t pipe = 0xE8E8F0F0E1LL;
int angles[2];

void setup() {
  Serial.begin(57600);
  pinMode(M2A, OUTPUT);
  pinMode(M2B, OUTPUT);
  pinMode(M2, OUTPUT);

  radio.begin();
  radio.openReadingPipe(1, pipe);
  radio.startListening();
  delay(20);
}

void loop() {
  if (radio.available()) {
    radio.read(&angles, sizeof(angles));
    Serial.print(angles[0]);
    Serial.print("  ");
    Serial.println(angles[1]);
    accAngleX = angles[0];
    accAngleY = angles[1];

    if(accAngleX > 25){
      digitalWrite(M1A, HIGH);
      digitalWrite(M2A, HIGH);
      digitalWrite(M1B, LOW);
      digitalWrite(M2B, LOW);

    } else {
      digitalWrite(M1A, LOW);
      digitalWrite(M2A, LOW);
      digitalWrite(M1B, LOW);
      digitalWrite(M2B, LOW);
    }
    //digitalWrite(M2A, HIGH);
    //digitalWrite(M2B, LOW);
  }

  analogWrite(M2, 200);
  analogWrite(M1, 200);
}