Team 1 Arduino Code

  #include <Servo.h>
  Servo myservo;
  int servopos = 30; //default servoposition for our servo

  int pdown = 2;
  int pup = 3;
  int pright = 4; //joystick pins
  int pleft = 5;

  int rdown = 0;
  int rup = 0;
  int rright = 0; //joystick read values
  int rleft = 0;

  int tswitch = 6; // togle switch variable
  int switchpos = 0; // position of the switch

  int read1 = 0;

  int sensor = 0;
  int sensorlevel = 0;

void setup() {

  Serial.begin(9600);


  pinMode(pdown, INPUT);
  pinMode(pup, INPUT);
  pinMode(pright, INPUT);
  pinMode(pleft, INPUT);

  pinMode(LED_BUILTIN, OUTPUT);

  pinMode(tswitch, INPUT_PULLUP);
  myservo.attach(7);
  myservo.write(30);

}

void loop() {

  switchcheck:

  switchpos=digitalRead(tswitch);
    if(switchpos == HIGH){

     goto joycheck;               //check the position of the switch
    }
    else{goto automatic;
    }

  joycheck:
    rdown=digitalRead(pdown);
    rup=digitalRead(pup);         //reading the joystick's value
    rright=digitalRead(pright);
    rleft=digitalRead(pleft);

   if( rdown == LOW && rup == LOW && rright == LOW && rleft == LOW)
   {goto switchcheck;}         //if joystick pos is 0 go back to switch check


  if(rup == HIGH || rdown == HIGH)
    {servopos = 30;                //up or down = motor position to zero
     myservo.write(servopos);
     goto switchcheck;
    }
  if(rright == HIGH)
      {
           if (servopos != 10)
            {servopos=servopos-5;                 //right rotation
            myservo.write(servopos);
            digitalWrite(LED_BUILTIN,HIGH);
             delay(500);}
        goto switchcheck;
       }
  if(rleft == HIGH)
      {
           if (servopos != 50)
            {servopos=servopos+5;                 //left rotation
            myservo.write(servopos);
            digitalWrite(LED_BUILTIN,LOW);
             delay(500);}
        goto switchcheck;
       }



  automatic:


  sensor=analogRead(A0);
  sensorlevel=map(sensor,0,1023,1,9);
  Serial.println(sensorlevel);
  delay(1000);
  if(sensorlevel==4 || sensorlevel==3)
    {
      servopos=40;
      myservo.write(servopos);
    }
   if(sensorlevel==2 || sensorlevel==1)
    {
      servopos=50;
      myservo.write(servopos);
    }
    if(sensorlevel==6 || sensorlevel==7)
    {
      servopos=20;
      myservo.write(servopos);
    }
      if(sensorlevel==8 || sensorlevel==9)
    {
      servopos=10;
      myservo.write(servopos);
    }
      if(sensorlevel==5)
    {
      servopos=30;
      myservo.write(servopos);
    }


}