Laser guidance using Joystick

1//by Shubham Santosh
2
3#include<Servo.h>
4 Servo s1,s2;  
5 
6void  setup() {
7  s1.attach(10); //defining the pins for the servo's
8  s2.attach(11);
9  pinMode(12,OUTPUT); //Laser Output
10  pinMode(2,INPUT);   //SW pin status
11  digitalWrite(2,HIGH);
12  Serial.begin(9600);  //Start Seria Monitor
13 
14  // put your setup code here, to run once:
15}
16int p1=90,p2=90;   // initial  position of both servos in degree
17void loop() 
18{
19  
20  int t1=0,t2=0;  //rate of increment/decrement of angle
21  int a=analogRead(A0); // reads analog  x-y readings of joystick
22  int b=analogRead(A1);
23
24  //when joystick is  moved away from the center
25  if(a<=450 or a>=550)
26  {
27    t1=map(a,0,1023,10,-10);
28    p1=change(p1,t1);  //change the servo's current position
29   
30  }
31  if(b<=450  or b>=550)
32  {
33    t2=map(b,0,1023,-10,10);
34    p2=change(p2,t2);  //change  the servo's current position
35
36  }
37   s1.write(p1); // rotate the servo's  if the joystick is moved
38   s2.write(p2);
39  if(digitalRead(2)==LOW)  //reads  the status of joystick's SW pin
40  digitalWrite(12,HIGH);
41  else
42  digitalWrite(12,LOW);
43  
44  /*print the analog readings of joystick and servo degree(For Verification)
45  Serial.print("s1:");
46  Serial.print(a);
47  Serial.print("\	");
48  Serial.print("s2:");
49  Serial.print(b);
50  Serial.print("\	");
51  Serial.print("t1:");
52  Serial.print(t1);
53  Serial.print("\	");
54  Serial.print("t2:");
55  Serial.print(t2);
56  Serial.print("\	");
57  Serial.print("pos1: ");
58  Serial.print(p1);
59  Serial.print("pos2: ");
60  Serial.println(p2);
61  */
62  delay(70);          //  for Stability
63}
64
65int change(int pos,int t)
66{
67    pos=pos+t;                   //  Increment/decrement the Servo angle
68    if (pos>180)                //  maximum  anlgle of servo is 180 degree
69    pos=180;
70    if(pos<0)                  //  minimum angle of servo is 0 degree
71    pos=0;
72    return(pos);               //return  the change of position
73}