Here is my code:
#include <Servo.h>
// Joystick pins
const int joy1_vrx = A0; // Joystick 1 X-axis (Servo 2)
const int joy2_vry = A1; // Joystick 2 Y-axis (DC motor)
const int joy1_vry = A2; // Joystick 1 Y-axis (Servo 1)
// Servo pins
const int servo1Pin = 11; // Servo 1
const int servo2Pin = 12; // Servo 2
// LED pins
const int greenLED1 = 7; // Servo 1 movement
const int greenLED2 = 8; // Servo 2 movement
const int redLED1 = 9; // DC motor movement
const int redLED2 = 10; // System active
const int redLED3 = 2; // Tracking sensor indicator
// Pushbutton and piezo
const int buttonPin = 3; // Active HIGH
const int piezoPin = 6; // Piezo buzzer
// L298N DC Motor
const int motorPin1 = 5; // IN3
const int motorPin2 = 4; // IN4
// Tracking sensor
const int trackingSensorPin = 13; // Digital output
// Servo objects
Servo servo1;
Servo servo2;
// State variables
unsigned long motorDelayUntil = 0;
unsigned long lastBeep = 0;
void setup() {
// Attach servos
servo1.attach(servo1Pin);
servo2.attach(servo2Pin);
// Set up LEDs
pinMode(greenLED1, OUTPUT);
pinMode(greenLED2, OUTPUT);
pinMode(redLED1, OUTPUT);
pinMode(redLED2, OUTPUT);
pinMode(redLED3, OUTPUT);
// Set up motor pins
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
// Set up button and piezo
pinMode(buttonPin, INPUT); // Active HIGH
pinMode(piezoPin, OUTPUT);
// Tracking sensor
pinMode(trackingSensorPin, INPUT);
Serial.begin(9600);
}
void loop() {
// System always active
digitalWrite(redLED2, HIGH);
// Piezo beeps every 4 seconds
if (millis() - lastBeep >= 4000) {
tone(piezoPin, 1000, 200); // 1kHz beep for 200ms
lastBeep = millis();
}
// Tracking sensor LED (ON only when object detected)
int trackingValue = digitalRead(trackingSensorPin);
digitalWrite(redLED3, trackingValue == HIGH ? HIGH : LOW);
// Read joystick values
int joy1X = analogRead(joy1_vrx); // 0-1023
int joy2Y = analogRead(joy2_vry); // 0-1023
int joy1Y = analogRead(joy1_vry); // 0-1023
// Print to Serial Monitor
Serial.print("Joystick 1 X: "); Serial.print(joy1X);
Serial.print(" | Joystick 1 Y: "); Serial.print(joy1Y);
Serial.print(" | Joystick 2 Y: "); Serial.println(joy2Y);
// Pushbutton: delay all motors if pressed (active HIGH)
if (digitalRead(buttonPin) == HIGH) {
motorDelayUntil = millis() + 3000;
}
if (millis() > motorDelayUntil) {
// --- Servo 1 (Joystick 1 Y, continuous rotation) ---
int servo1Speed = map(joy1Y, 0, 1023, 0, 180);
if (abs(joy1Y - 512) > 50) {
servo1.write(servo1Speed);
digitalWrite(greenLED1, HIGH);
} else {
servo1.write(90); // Stop
digitalWrite(greenLED1, LOW);
}
// --- Servo 2 (Joystick 1 X, continuous rotation) ---
int servo2Speed = map(joy1X, 0, 1023, 0, 180);
if (abs(joy1X - 512) > 50) {
servo2.write(servo2Speed);
digitalWrite(greenLED2, HIGH);
} else {
servo2.write(90); // Stop
digitalWrite(greenLED2, LOW);
}
// --- DC Motor (Joystick 2 Y) ---
bool dcMoving = false;
if (joy2Y < 400) { // Backward
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
dcMoving = true;
} else if (joy2Y > 600) { // Forward
digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
dcMoving = true;
} else {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);
}
digitalWrite(redLED1, dcMoving ? HIGH : LOW);
} else {
// Motors off during delay
servo1.write(90);
servo2.write(90);
digitalWrite(greenLED1, LOW);
digitalWrite(greenLED2, LOW);
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);
digitalWrite(redLED1, LOW);
}
}
I have leds but they should work, My joysticks work in serial, I just want to know if the problem is the code or the physical wiring. I have servo1 and servo2, and a DC motor at the top that lowers string with a magnet. For the DC, I'm using an L298N motor driver. If someone could read over my code for the servos and dc motor I'd appreciate it, Thanks in advance, Thomas *360 degree servos
