int acc_x;

int acc_y;
int D0 = 9;
int D1 = 11;
int D2 = 12;
int D3 = 13;
int led = 5;
int enable_remote = 10;
int x, y, x_val, y_val, last_val, val, stability;
void setup()
{
pinMode(D0, OUTPUT);
pinMode(D1, OUTPUT);
pinMode(D2, OUTPUT);
pinMode(D3, OUTPUT);
pinMode(led, OUTPUT);
pinMode(enable_remote, OUTPUT);
digitalWrite(enable_remote, HIGH);
digitalWrite(led, LOW);
Serial.begin(9600);
x_val = checkstabiliy(A0);
y_val = checkstabiliy(A1);
digitalWrite(led, HIGH);

}
void loop()
{
acc_x = analogRead(A0);
x = acc_x - x_val;
acc_y = analogRead(A1);
y = acc_y - y_val;
Serial.print( "x=");

Serial.println(x);
Serial.print( "y=");

Serial.println(y);

if (x < -30)
{
digitalWrite(enable_remote, LOW);
Serial.println( "right");
digitalWrite(D0, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D1, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D2, LOW); // turn the data line off (HIGH is the voltage level)
digitalWrite(D3, LOW); // turn the data line off (HIGH is the voltage level)
delay(200); // wait for a second
}

else if (x > 30)

{ digitalWrite(enable_remote, LOW);
Serial.println( "left");
digitalWrite(D0, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D1, LOW); // turn the data line off (HIGH is the voltage level)
digitalWrite(D2, LOW); // turn the data line off (HIGH is the voltage level)
digitalWrite(D3, HIGH); // turn the data line on (HIGH is the voltage level)
delay(200); // wait for a second
}
 else if (y < -30)
{ digitalWrite(enable_remote, LOW);
Serial.println( "frwd");
digitalWrite(D0, LOW); // turn the data line off (HIGH is the voltage level)
digitalWrite(D1, LOW); // turn the data line off(HIGH is the voltage level)
digitalWrite(D2, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D3, HIGH); // turn the data line on (HIGH is the voltage level)
delay(200); // wait for a second
}
else if (y > 30)
{ digitalWrite(enable_remote, LOW);
Serial.println( "back");
digitalWrite(D0, LOW); // turn the data line off (HIGH is the voltage level)
digitalWrite(D1, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D2, HIGH); // turn the data line on (HIGH is the voltage level)
digitalWrite(D3, LOW); // turn the data line off (HIGH is the voltage level)
delay(200); // wait for a second
}
else
{
Serial.println( "stop");
digitalWrite(D0, HIGH); // turn the data line off by making the voltage LOW
digitalWrite(D1, HIGH); // turn the data line off by making the voltage LOW
digitalWrite(D2, HIGH); // turn the data line off by making the voltage LOW
digitalWrite(D3, HIGH); // turn the data line off by making the voltage LOW
delay(200);
digitalWrite(enable_remote, HIGH);

}
}
int checkstabiliy(int pinNo)
{
last_val = 0, stability = 0;
val = analogRead(pinNo);
last_val = val;
while (stability < 4)
{
val = analogRead(pinNo);
Serial.println(val);
delay(100);
stability++;
if (((val - last_val) < -5) || ((val - last_val) > 5))
{
stability = 0;
last_val = val;
}
}
Serial.print(pinNo);
Serial.print(" stability=");
Serial.println(val);

stability = 0;
return val;
}