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///////////////////////////////////////////// 
//        RemoteXY include library         // 
///////////////////////////////////////////// 

/* RemoteXY select connection mode and include library */ 
#define REMOTEXY_MODE__SOFTWARESERIAL 
#include <SoftwareSerial.h> 
#include <RemoteXY.h> 

/* RemoteXY connection settings */
#define REMOTEXY_SERIAL_RX 2 
#define REMOTEXY_SERIAL_TX 3 
#define REMOTEXY_SERIAL_SPEED 9600 

/* RemoteXY configurate  */  
unsigned char RemoteXY_CONF[] = 
  { 3,0,23,0,1,5,5,15,41,11
  ,43,43,1,2,0,6,5,27,11,5
  ,79,78,0,79,70,70,0 }; 
   
/* this structure defines all the variables of your control interface */  
struct { 

    /* input variable */
  signed char joystick_1_x; /* =-100..100 x-coordinate joystick position */
  signed char joystick_1_y; /* =-100..100 y-coordinate joystick position */
  unsigned char switch_1; /* =1 if switch ON and =0 if OFF */

    /* other variable */
  unsigned char connect_flag;  /* =1 if wire connected, else =0 */

} RemoteXY; 

///////////////////////////////////////////// 
//           END RemoteXY include          // 
///////////////////////////////////////////// 
/* defined the right motor control pins */
#define PIN_MOTOR_STEERING_UP 5
#define PIN_MOTOR_STEERING_DN 4
#define PIN_MOTOR_STEERING_SPEED 10

/* defined the left motor control pins */
#define PIN_MOTOR_RUNNING_UP 7
#define PIN_MOTOR_RUNNING_DN 6
#define PIN_MOTOR_RUNNING_SPEED 9

/* defined the LED pin */
#define PIN_LED 13


/* defined two arrays with a list of pins for each motor */
unsigned char SteeringMotor[3] = 
  {PIN_MOTOR_STEERING_UP, PIN_MOTOR_STEERING_DN, PIN_MOTOR_STEERING_SPEED};
unsigned char RunningMotor[3] = 
  {PIN_MOTOR_RUNNING_UP, PIN_MOTOR_RUNNING_DN, PIN_MOTOR_RUNNING_SPEED};

/*
   speed control of the motor
   motor - pointer to an array of pins
   v - motor speed can be set from -100 to 100
*/



void setup() {
  /* initialization pins */
  pinMode (PIN_MOTOR_STEERING_UP, OUTPUT);
  pinMode (PIN_MOTOR_STEERING_DN, OUTPUT);
  pinMode (PIN_MOTOR_RUNNING_UP, OUTPUT);
  pinMode (PIN_MOTOR_RUNNING_DN, OUTPUT);
  pinMode (PIN_LED, OUTPUT);

  /* initialization module RemoteXY */
  RemoteXY_Init ();
}

void loop() {
  
  RemoteXY_Handler ();
//  analogRead RemoteXY.joystick_1_y;
//  analogRead RemoteXY.joystick_1_x;
 int vr = RemoteXY.joystick_1_x;
 int vs = RemoteXY.joystick_1_y;
if (vr>0)
{
    digitalWrite(RunningMotor[0], HIGH);
    digitalWrite(RunningMotor[1], LOW);
    analogWrite(RunningMotor[2], vr*2.55);
}
else if (vr<0)
  {
    digitalWrite(RunningMotor[0], LOW);
    digitalWrite(RunningMotor[1], HIGH);
    analogWrite(RunningMotor[2], (-vr)*2.55);
  }
  else 
  {
    digitalWrite(RunningMotor[0], LOW);
    digitalWrite(RunningMotor[1], LOW);
    analogWrite(RunningMotor[2], 0);
  }
  
  if (vs>0) {
    digitalWrite(SteeringMotor[0], HIGH);
    digitalWrite(SteeringMotor[1], LOW);
    analogWrite(SteeringMotor[2], vs*2.55);
  }
  else if (vs<0) {
    digitalWrite(SteeringMotor[0], LOW);
    digitalWrite(SteeringMotor[1], HIGH);
    analogWrite(SteeringMotor[2], (-vs)*2.55);
  }
  else {
    digitalWrite(SteeringMotor[0], LOW);
    digitalWrite(SteeringMotor[1], LOW);
    analogWrite(SteeringMotor[2], 0);
  }
  
  
}

/*
  Front Motor (Steering) => Channel A
 Back Motor => Channel B
 
 Since the motor shield hijacks 6 pins for the motors'
 control, they are declared in the MotorShieldR3 library.
 */
 #include <SoftwareSerial.h>  
 
 int bluetoothTx = 2;
 int bluetoothRx = 3;
 SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
 
 /* defined the right motor control pins */
#define PIN_MOTOR_STEERING_UP 7
#define PIN_MOTOR_STEERING_DN 6
#define PIN_MOTOR_STEERING_SPEED 10

/* defined the left motor control pins */
#define PIN_MOTOR_RUNNING_UP 4
#define PIN_MOTOR_RUNNING_DN 5
#define PIN_MOTOR_RUNNING_SPEED 9

/* 
 #include <MotorShieldR3.h>
MotorShieldR3 yellowCar;*/
#define pinfrontLights    13    //Pin that activates the Front lights.
#define pinbackLights     12    //Pin that activates the Back lights.   
char command = 'S';
int v = 250;   
int timer0 = millis();
int timer1 = 0;


void setup() 
{       
  //Setup Bluetooth serial connection to android
  Serial.begin(115200);  //Set the baud rate to that of your Bluetooth module.
  pinMode(pinfrontLights , OUTPUT);
  pinMode(pinbackLights , OUTPUT);
  
  pinMode (PIN_MOTOR_STEERING_UP, OUTPUT);
  pinMode (PIN_MOTOR_STEERING_DN, OUTPUT);
  pinMode (PIN_MOTOR_RUNNING_UP, OUTPUT);
  pinMode (PIN_MOTOR_RUNNING_DN, OUTPUT);
  
 }

void loop(){
 
  
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
  
  if(Serial.available() > 0){ 
    command = Serial.read(); 
    //Change pin mode only if new command is different from previous.   
    //Serial.println(command);
    switch(command){
    case 'F':  
    //  yellowCar.Forward_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, HIGH);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;
    case 'B':  
    //  yellowCar.Back_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, HIGH);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;
    case 'L':  
    //  yellowCar.Left_4W();
  digitalWrite(PIN_MOTOR_STEERING_UP, HIGH);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;
    case 'R':
    //  yellowCar.Right_4W();  
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, HIGH);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;
    case 'S':  
    //  yellowCar.Stopped_4W();
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break; 
    case 'I':  //FR  
    //  yellowCar.ForwardRight_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, HIGH);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, HIGH);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break; 
    case 'J':  //BR  
    //  yellowCar.BackRight_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, HIGH);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, HIGH);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;        
    case 'G':  //FL  
    //  yellowCar.ForwardLeft_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, HIGH);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, HIGH);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break; 
    case 'H':  //BL
    //  yellowCar.BackLeft_4W(velocity);
  digitalWrite(PIN_MOTOR_STEERING_UP, HIGH);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, HIGH);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;
    case 'W':  //Font ON 
      digitalWrite(pinfrontLights, HIGH);
      break;
    case 'w':  //Font OFF
      digitalWrite(pinfrontLights, LOW);
      break;
    case 'U':  //Back ON 
      digitalWrite(pinbackLights, HIGH);
      break;
    case 'u':  //Back OFF 
      digitalWrite(pinbackLights, LOW);
      break; 
    case 'D':  //Everything OFF 
      digitalWrite(pinfrontLights, LOW);
      digitalWrite(pinbackLights, LOW);
    //  yellowCar.Stopped_4W();
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
      break;         
    default:  //Get velocity
      if(command=='q'){
        v = 255;  //Full velocity
     //   yellowCar.SetSpeed_4W(velocity);
     
      }
      else{ 
          //Chars '0' - '9' have an integer equivalence of 48 - 57, accordingly.
          if((command >= 48) && (command <= 57)){ 
            //Subtracting 48 changes the range from 48-57 to 0-9.
            //Multiplying by 25 changes the range from 0-9 to 0-225.
            v = (command - 48)*25;       
      //      yellowCar.SetSpeed_4W(velocity);
      
          }
        }
      }
    }
  
  else
  {
    timer0 = millis();  //Get the current time (millis since execution started).
    //Check if it has been 500ms since we received last command.
    if((timer0 - timer1)>500){  
      //More tan 500ms have passed since last command received, car is out of range.
      //Therefore stop the car and turn lights off.
      digitalWrite(pinfrontLights, LOW);
      digitalWrite(pinbackLights, LOW);
   //   yellowCar.Stopped_4W();
  digitalWrite(PIN_MOTOR_STEERING_UP, LOW);
  digitalWrite(PIN_MOTOR_STEERING_DN, LOW);
  analogWrite(PIN_MOTOR_STEERING_SPEED, v);
  digitalWrite(PIN_MOTOR_RUNNING_UP, LOW);
  digitalWrite(PIN_MOTOR_RUNNING_DN, LOW);
  analogWrite(PIN_MOTOR_RUNNING_SPEED, v);
    }
  }  
}