#include <AFMotor>#include <Servo>AF_DCMotor motor1(3);
AF_DCMotor motor2(4);
Servo servo1;
Servo servo2;

int ch1,ch2,ch3,ch4, ltrack, rtrack;
const int in1 = A0, in2 = A1, in3 = A2, in4 = A3;

void setup() {
  Serial.begin(9600);           // set up Serial library at 9600 bps
  pinMode(in1, INPUT);
  pinMode(in2, INPUT);
  pinMode(in3, INPUT);
  pinMode(in4, INPUT);
  servo1.attach(9);
  servo2.attach(10);
  motor1.setSpeed(255);
  motor1.run(RELEASE);
  motor2.setSpeed(255);
  motor2.run(RELEASE);
}

void loop() {
  ch1 = pulseIn(in1, HIGH, 35000); 
  ch2 = pulseIn(in2, HIGH, 35000);
  ch3 = pulseIn(in3, HIGH, 35000);
  ch4 = pulseIn(in4, HIGH, 35000);

  if(ch1 != 0 || ch2 != 0 || ch3 != 0 || ch4 != 0){
    ch1 = constrain(ch1, 970, 1990);
    ch2 = constrain(ch2, 970, 1990);
    ch3 = constrain(ch3, 970, 1990);
    ch4 = constrain(ch4, 970, 1990);
    ch1 = map(ch1, 970, 1990, -100, 100);
    ch2 = map(ch2, 970, 1990, -100, 100);
    ch3 = map(ch3, 970, 1990, -100, 100);
    ch4 = map(ch4, 970, 1990, -100, 100);

    servo1.write(map(ch4, -100, 100, 0, 180));
    servo2.write(map(ch3, -100, 100, 0, 180));

    ltrack = ch2 - ch1;
    rtrack = ch2 + ch1;
    ltrack = constrain(ltrack, -100, 100);
    rtrack = constrain(rtrack, -100, 100);
    Serial.print(ltrack);
    Serial.print(" || ");
    Serial.println(rtrack);
    if(ltrack > 5){
      motor1.run(FORWARD);
      motor1.setSpeed(map(ltrack, 6, 100, 0, 255));
    } else if(ltrack < -5){
      motor1.run(BACKWARD);
      motor1.setSpeed(map(ltrack, -6, -100, 0, 255));
    } else {
      motor1.run(RELEASE);
    }
    if(rtrack >5){
      motor2.run(FORWARD);
      motor2.setSpeed(map(rtrack, 6, 100, 0, 255));
    } else if(rtrack < -5){
      motor2.run(BACKWARD);
      motor2.setSpeed(map(rtrack, -6, -100, 0, 255));
    } else {
      motor2.run(RELEASE);
    }
  } else {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
  }
 
//  Serial.print("1: ");
//  Serial.print(ch1);
//  Serial.print(", 2: ");
//  Serial.print(ch2);
//  Serial.print(", 3: ");
//  Serial.print(ch3);
//  Serial.print(", 4: ");
//  Serial.println(ch4);

}