Code doesn't work

i've got differential drive code doesn't seem work.

i've sent prospective outputs serial monitor,, confirming if statements sending data, sends 0's.

i want have joystick control 2 motorspeeds based on angular velocity derived mapping x,y of joystick velocity y, , distance center of turn radius x.

is there common way sort of simplified test? produce rc type control (granted joystick hooked car).

code: [select]


int rightmotorpinf = 3;
int rightmotorpinb = 5;
int leftmotorpinf  = 6 ;
int leftmotorpinb =  7 ;
int joyturnangle = a0;
int joyvelocity = a1;


void setup() {
  // put setup code here, run once
pinmode (joyturnangle, input);
pinmode (joyvelocity, input);
 pinmode (rightmotorpinf, output);
 pinmode (leftmotorpinf, output);
 pinmode (rightmotorpinb, output);
 pinmode (leftmotorpinb, output);
 serial.begin (9600);
}

void loop() {
  // put main code here, run repeatedly:
   float angularvelocity,velocityright, velocityleft;
   joyturnangle = analogread(a0);
 joyvelocity = analogread(a1);
map (joyvelocity, 0, 1023, -200, 200);
map (joyturnangle, 0, 1023, -32000, 32000);
float (angularvelocity = (joyvelocity/joyturnangle));
int (velocityright = angularvelocity * (joyturnangle + 5));
int  (velocityleft = angularvelocity * (joyturnangle - 5));
if (velocityright >= 10 && velocityright <= 200 && velocityleft >= 10 && velocityleft <= 200)
{
analogwrite (rightmotorpinf, velocityright);
analogwrite (leftmotorpinf, velocityleft);
analogwrite (rightmotorpinb, 0);
analogwrite (leftmotorpinb, 0);
serial.print (velocityleft);
serial.print ("     ");
serial.println (velocityright);
}
if (velocityright >= -200 && velocityright <= -10&&velocityleft >= -200 && velocityleft <= -10)
{
  analogwrite (rightmotorpinb, -velocityright);
  analogwrite ( leftmotorpinb, -velocityleft);
  analogwrite (rightmotorpinf, 0);
  analogwrite (leftmotorpinf, 0);
  serial.print (velocityleft);
serial.print ("     ");
serial.println (velocityright);
}
 

if (velocityleft >= -10 && velocityleft <= 10 && velocityright >= -10 && velocityright <= 10)
{
  analogwrite (leftmotorpinf, 0);
  analogwrite (rightmotorpinf, 0);
  analogwrite (leftmotorpinb, 0);
  analogwrite (rightmotorpinb, 0);
  serial.print (velocityleft);
serial.print ("     ");
serial.println (velocityright);
}

delay (50);
}

quote

code: [select]

map (joyvelocity, 0, 1023, -200, 200);
map (joyturnangle, 0, 1023, -32000, 32000);


this isn't doing think is, suspect. functions return values. general idea values. example, can write:

code: [select]

  2+2;

sure, evaluates 4, aren't putting result anywhere.

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