Control 6 motors with an accelerometer

close to the body

// 3, 5, 6, 9, 10, and 11
#define MOTOR1 3
#define MOTOR2 5
#define MOTOR3 6
#define MOTOR4 9
#define MOTOR5 10
#define MOTOR6 11

#define PIN_X A0
#define PIN_Y A1
#define PIN_Z A2

#define X_ZERO 490
#define Y_ZERO 470
#define Z_ZERO 512

#define MIN_MOTOR_SPEED 40

#define NUM_MOTORS 6

int x = 0;
int y = 0;
int z = 0;

int motorSpeed = 0;

int xDiff, yDiff, zDiff;

int motorPins[] = {
  MOTOR1,
  MOTOR2,
  MOTOR3,
  MOTOR4,
  MOTOR5,
  MOTOR6
};

boolean leftToRightSorted = true;

void setup(){
  
  Serial.begin(9600);
  
  pinMode(PIN_X, INPUT);
  pinMode(PIN_Y, INPUT);
  pinMode(PIN_Z, INPUT);
  
  for(int i = 0; i < NUM_MOTORS; i++){
    pinMode(motorPins[i], OUTPUT);
  }
  
}

void loop(){
  
  x = analogRead(PIN_X);
  y = analogRead(PIN_Y);
  z = analogRead(PIN_Z);
  
  xDiff = abs(X_ZERO - x);
  yDiff = abs(Y_ZERO - y);
  zDiff = abs(Z_ZERO - z);
  
  Serial.print("x: ");
  Serial.println(x);
  Serial.print("xDiff: ");
  Serial.println(xDiff);

//  Serial.print("y: ");
//  Serial.println(y);
//  Serial.print("yDiff: ");
//  Serial.println(yDiff);
//  
//  Serial.print("z: ");
//  Serial.println(z);
//  Serial.print("zDiff: ");
//  Serial.println(zDiff);

  /*
  if(xDiff < 0 && !leftToRightSorted){
    reverse_motor_list();
  }

  if(xDiff > 0 && leftToRightSorted){
    reverse_motor_list();
  }
  */

  int maxSpeed = 255;
  for(int i = 0; i < NUM_MOTORS; i++){
//    Serial.print("motor: ");
//    Serial.println(i + 1);
    maxSpeed = map(i, 0, NUM_MOTORS, MIN_MOTOR_SPEED, 255);
    motorSpeed = map(abs(xDiff), 0, 100, 0, 255);
    if(motorSpeed < MIN_MOTOR_SPEED){
      motorSpeed = 0;
    }
//    motorSpeed = 200;
//    Serial.print("speed: ");
//    Serial.println(motorSpeed);
    analogWrite(motorPins[i], motorSpeed);
  }
  delay(100);
   
}

void reverse_motor_list(){
  for (int i=0, j = NUM_MOTORS - 1; i< NUM_MOTORS/2; i++, j--){
    int temp = motorPins[i];
    motorPins[i] = motorPins[j];
    motorPins[j] = temp;
  }
  leftToRightSorted = !leftToRightSorted;
}