#include <U8g2lib.h>
#include <Wire.h>

#define joyStickY A0
#define joyStickX A1
#define motorDriver1 9//PWMピン
#define motorDriver2 10//PWMピン
#define sensorPin 7


U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);

//ポーリング用
unsigned long lastupdate = 0;
unsigned long lastupdate2 = 0;

//カウンタ用
volatile int count = 0;
int dir = 0;


void setup() {
  Serial.begin(9600);//デバッグ用
  //液晶初期化
  u8g2.begin();
  //割り込み開始
  attachInterrupt(sensorPin, counter, RISING);

}

void loop() {
  //前回実行時の時間を今の時間と比較
  if (lastupdate + 200 <= millis()) {
    lastupdate = millis();//次の実行のために時間更新
    int sensor = analogRead(joyStickY);
    int out = map(sensor, 0, 1023, -255, 255);
    motor(out);//モーター用関数を読み出す
  }
  if (lastupdate2 + 200 <= millis()) {
    lastupdate2 = millis();//次の実行のために時間更新
    u8g2.clearBuffer();
    u8g2.setFont(u8g2_font_ncenB08_tr);
    u8g2.drawStr(0,10,count);
    u8g2.sendBuffer();
    }
}

//モーター用関数
void motor() {
  if (output > 0) {
    analogWrite(motorDriver1, output);
    analogWrite(motorDriver2, 0);
    dir = 1;
  } else if (output <= 0) {
    analogWrite(motorDriver1, 0);
    analogWrite(motorDriver2, output * -1);
    dir = -1
  }
}

void counter() {
  count = count + 1 * dir;
}