#include <Servo.h>
const int pin = 11;
Servo esc_dr;
Servo esc_st;
void setup()
{
  // put your setup code here, to run once:
  esc_dr.attach(9);
  esc_st.attach(10);
  delay(3000);

  Serial.begin(9600);
}
void loop() {
  if (Serial.available())
  { int sterring = 60;
    int value = pulseIn(pin, HIGH, 20000);
    int speed = map(value, 1500, 2000, 90, 150);
    if (speed >= 90)
    { //Serial.println(speed);
      if (sterring == 90)
      { esc_dr.write(speed);
        esc_st.write(speed);
        delay(50);
      }
      else if (sterring < 89 && sterring >= 0) //drrepta
      { int speeddr = map(sterring, 89, 1, speed, 90);
        if (speeddr >= 90)
          esc_dr.write(speeddr);
          else
          esc_dr.write(90);
        int speedst = map(sterring, 89, 1, 90,speed);
        Serial.println(speedst);
        if (speeddr >= 90)
          esc_st.write(speedst);
          else
          esc_st.write(90);
        //Serial.println("AAA");
        delay(50);
      }
      else if (sterring > 91 && sterring <= 180) //stanga
      {
        esc_dr.write(speed + map(sterring, 89, 180, 90, speed));
        esc_st.write(speed - map(sterring, 89, 180, 90, speed));
        delay(50);
      }
    }
  }

}