#include <Servo.h>

//motor control
#define ena 9
#define in1 8
#define in2 7

//rudder control
Servo rudder;
int pos=0;

void setup() {
  
 Serial.begin(9600);
 rudder.attach(6);

 pinMode (ena,OUTPUT);
 pinMode (in1,OUTPUT);
 pinMode (in2,OUTPUT);

 delay(2000);
}

void loop() {
  moveboat();
  
  turnboatleft();
  
  turnboatright();
  
  stopboat();
  
  delay(1000);
}


void turnboatleft()
{
 for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    rudder.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
}

void turnboatright()
{
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    rudder.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
}

void moveboat()
{
 
   Serial.println("MOVE BOAT");
   digitalWrite(in1,LOW);
   digitalWrite(in2,HIGH);
   analogWrite(ena,60);

}

stopboat()
{
   Serial.println("POWER OFF");
   digitalWrite(in1,LOW);
   digitalWrite(in2,LOW);
}