Code

#include <Servo.h>

Servo shifterServo;   // Create Servo object for sensor head servo

Servo steerServo;        // Create Servo object for second servo

const int LEDPin = 13;    //control pin for led indicator

const int DcMotorPin = 8; //control in for propulsion

int button1 = 1;

int button2 = 2;

int button3 = 3;

int button4 = 4;

void setup() {

  Serial.begin (9600);

  

  pinMode(LEDPin, OUTPUT);       // Use LED indicator (if required)

  pinMode(DcMotorPin, OUTPUT);

  pinMode(button1, INPUT);

  pinMode(button2, INPUT);

  pinMode(button3, INPUT);

  pinMode(button4, INPUT);

  shifterServo.attach(10);

  steerServo.attach(9);

  

  //shift into neutral and point straight ahead

  shifterServo. write (90);

  steerServo.write (90);

}

  

  

  //point straight

  

  void pointStraight(){

    steerServo.write (90);

  }

  

  // stopping

  void stopMotor() {

    Serial.println ("stopping");

    digitalWrite(DcMotorPin, LOW);

    digitalWrite(LEDPin, LOW);

  }

  

  // move forward

  void startMotor() {

    Serial.println ("Moving Forward");

    digitalWrite(DcMotorPin, HIGH);

    digitalWrite(LEDPin, HIGH);

  }

  

  //turn right

  void turnRight() {

    Serial.println("Turning Right");

    steerServo.write(30);

    digitalWrite(LEDPin, HIGH);

  }

  

  //turn left

  void turnLeft() {

    Serial.println("Turning Left");

    steerServo.write(160);

    digitalWrite(LEDPin, HIGH);

  }

  

  //shift high

  void shiftHigh(){

    Serial.println("Shifting High");

   shifterServo.write(75);

   digitalWrite(LEDPin, HIGH);

  }

  

  //shift low

  void shiftLow() {

    Serial.println("Shifting Low");

    shifterServo.write(105);

    digitalWrite(LEDPin, HIGH);

  }

  

  void loop() {

    

    //if throttle is opened

    if (button1 == HIGH){

      shiftHigh();

      startMotor();

    if (button2 == HIGH){

      shiftLow();

      startMotor();

    if (button3 == HIGH){

      turnRight();

    if (button4 == HIGH){

      turnLeft();

    }

    else{

      pointStraight();

    }

    }

    else{

      pointStraight();

    }

    }

    else {

      stopMotor();

    }

    }

    else {

      stopMotor();

    }

  }