/* 10-9-6
 *A008
  Pat's BT-IR Hexapod-13- Finger On to Run, Off to Stop.
  This Combo BT-IR Sketch is controlled by an Android Phone, IR Remote M and Mini Remote.
  There was a conflict using PWM pin 11 when you combined both BT & IR, Library analogWrite with pin 11?
  Modified by Pat McMahon (V13) 5/9/2024, servo1=10,servo2=9,servo3=6, added Front pin 3, Middle extra pin 13,Back Lights pin 4,HORN pin 11.
  Adjusted the code plus for combinations of backleft, backright,frontleft,frontright.
*/
#include <IRremote.h>
#include <Servo.h>
const int frontLeds_pin = 3;
const int backLeds_pin = 4;
const int centreLeds = 13;
const int buzzer = 11;
Servo servo1;  // create servo object to control a servo
Servo servo2;  // create servo object to control a servo
Servo servo3;  // create servo object to control a servo

const int RECV_PIN = 2;
const int SEND_PIN = 12;
#define USE_NO_CARRIER = 1;
int lastMiniIRCommand = 0;
int pos = 0;    // variable to store the servo position




IRrecv irrecv(RECV_PIN, SEND_PIN);


const int delayTime = 300;

#define FRONTLIGHTS_BLUELED 3 //Blue LED's
#define BACKLIGHTS_REDLED 4  //Red Led's
#define HORN 11  //Passive Buzzer
#define EXTRA_ORANGELED 13  //Yellow Led's
int command; //Int to store app command state.
int Speed = 204; // 0 - 255.
int Speedsec;
int buttonState = 0;
int lastButtonState = 0;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will malfunction if this is higher than int Speed.
int brakeTime = 45;
int brkonoff = 1; //1 for the electronic braking system, 0 for normal.


void setup()

{
  servo1.attach(10);  // attaches the servo on pin 9 to the servo object
  servo2.attach(9);  // attaches the servo on pin 9 to the servo object
  servo3.attach(6);  // attaches the servo on pin 9 to the servo object
  irrecv.enableIRIn(); // Start the receiver
  Serial.begin(9600); //Set the baud rate to your Bluetooth module.

  Servo servo1;  // create servo object to control a servo
  Servo servo2;  // create servo object to control a servo
  Servo servo3;  // create servo object to control a servo



  // pinMode(LED, OUTPUT); //Set the LED pin.
  pinMode(FRONTLIGHTS_BLUELED, OUTPUT);
  pinMode(BACKLIGHTS_REDLED, OUTPUT);
  pinMode(HORN, OUTPUT);
  pinMode(EXTRA_ORANGELED, OUTPUT);// MIDDLELIGHTS
  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(9600); //Set the baud rate to your Bluetooth module.



  pinMode(frontLeds_pin, OUTPUT);
  pinMode(backLeds_pin, OUTPUT);
  pinMode(centreLeds, OUTPUT);
  pinMode(buzzer, OUTPUT);

  irrecv.enableIRIn(); // Start the receiver
}
void loop() {

  if (Serial.available() > 0)
  {
    command = Serial.read();
    // Stop(); //Initialize with motors stoped.

    switch (command)
    {
      case 'F':
        forwards();
        break;
      case 'B':
        backwards();
        break;
      case 'L':
        left();
        break;
      case 'R':
        right();
        break;
      case 'G':
        forwardleft();
        break;
      case 'I':
        forwardright();
        break;
      case 'H':
        backleft();
        break;
      case 'J':
        backright();
        break;
      case 'W':
        FrontLightsOn();
        break;
      case 'w':
        FrontLightsOff();
        break;
      case 'U':
        BackLightsOn();
        break;
      case 'u':
        BackLightsOff();
        break;
      case 'V':
        HornOn();
        break;
      case 'v':
        HornOff();
        break;
      case 'X':
        ExtraOn();
        break;
      case 'x':
        ExtraOff();
        break;
        Speed = 100;
        break;
      case '1':
        Speed = 140;
        break;
      case '2':
        Speed = 153;
        break;
      case '3':
        Speed = 165;
        break;
      case '4':
        Speed = 178;
        break;
      case '5':
        Speed = 191;
        break;
      case '6':
        Speed = 204;
        break;
      case '7':
        Speed = 216;
        break;
      case '8':
        Speed = 229;
        break;
      case '9':
        Speed = 242;
        break;
      case 'q':
        Speed = 255;
        break;
    }



  }

  decode_results results;

  if (irrecv.decode(&results)) // if there is an IR reading
  {
    Serial.println(results.value, HEX);

    {

      switch (results.value)
      {
        //Remote M
        case 0x2F0:
          Serial.println("Forwards!");
          forwards();
          break;
        case 0xAF0:
          Serial.println("Backwards!");
          backwards();
          break;
        case 0x2D0:
          Serial.println("Lefty!");
          left();
          break;
        case 0xCD0:
          Serial.println("Righty!");
          right();
          break;
        case 0x738:
          Serial.println("centreLeds!"); // Middle Orange Led's
          middleLeds();
          break;
        case 0xF38:
          Serial.println("frontLeds!"); // Front Blue Led's
          frontLeds();
          break;
        case 0x338:
          Serial.println("backLeds!"); //Back Red Led's
          backLeds();
          break;
        case 0xB38:
          Serial.println("horn!");
          HornOn;
          break;
        case 0xA70:
          Serial.println("Stop!");
          ;
          break;
      }
    }

    

   /*//Mini NEC Remote
    {
    case 0xFF18E7:
      Serial.println("Forwards!");
      forwards();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF4AB5:
      Serial.println("Backwards!");
      backwards();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF10EF:
      Serial.println("Lefty!");
      lefty();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF5AA5:
      Serial.println("Righty!");
      righty();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF38C7:
      Serial.println("Stop!");
      halt();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF629D:
      Serial.println("centreLeds!"); // Middle Orange Led's
      centreLeds();
      lastMiniIRCommand = results.value;
      break;
    case 0xFFA25D:
      Serial.println("frontLeds!"); // Front Blue Led's
      frontLeds();
      lastMiniIRCommand = results.value;
      break;
    case 0xFFE21D:
      Serial.println("backLeds!"); //Back Red Led's
      backLeds();
      lastMiniIRCommand = results.value;
      break;
    case 0xFF02FD:
      Serial.println("horn!");
      horn();
      lastMiniIRCommand = results.value;
      break;
    case 0xFFFFFFFF:
      Serial.println("RepeatLastCommand!");
      Serial.println(lastMiniIRCommand, HEX);
      switch (lastMiniIRCommand)

      case 0xFF18E7:
      Serial.println("Repeat Forwards!");
      forwards();
      break;
    case 0xFF4AB5:
      Serial.println("Repeat Backwards!");
      backwards();
      break;
    case 0xFF10EF:
      Serial.println("Repeat Left!");
      left();
      break;
    case 0xFF5AA5:
      Serial.println("Repeat Right!");
      right();
      break;
    case 0xFF38C7:
      Serial.println("Repeat Stop!");
      halt();
      break;
    }
    //*/




    irrecv.resume(); // Receive the next value
  }



}

//BT Commands
void forwards()
{
  Serial.println("BT Forward");
  digitalWrite(FRONTLIGHTS_BLUELED, HIGH);
  servo1.write(105);
  delay(100);
  servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(75);
  delay(100);
  servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);

}

void backwards()
{
  Serial.println("BT Back");
  digitalWrite(BACKLIGHTS_REDLED, HIGH);
  servo1.write(75);
  delay(100);
  servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(105);
  delay(100);
  servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);
}

void left()
{
  Serial.println("BT Left");
  servo1.write(105);
  delay(100);
  //servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(75);
  delay(100);
  //servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);
  delay(100);
}

void right()
{
  Serial.println("BT Right");
  servo1.write(75);
  delay(100);
  servo2.write(75);
  //servo3.write(105);
  delay(100);
  servo1.write(105);
  delay(100);
  servo2.write(105);
  // servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);

}
void forwardleft()
{

}
void forwardright()
{

}
void backright()
{

}
void backleft()
{

}
void FrontLightsOff()
{
  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
}

void FrontLightsOn()
{
  digitalWrite(FRONTLIGHTS_BLUELED, HIGH);
}
void HornOff()
{
  digitalWrite(HORN, LOW);
}
void HornOn()
{
  digitalWrite(HORN, HIGH);
}
void ExtraOff()
{
  digitalWrite(EXTRA_ORANGELED, LOW);
}
void ExtraOn()
{
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(500);                       // wait for a second
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(500);                       // wait for a second
}
void BackLightsOff()
{
  digitalWrite(BACKLIGHTS_REDLED, LOW);
}

void BackLightsOn()
{
  digitalWrite(BACKLIGHTS_REDLED, HIGH);
}
void Stop()
{


}

void middleLeds()
{
  digitalWrite(EXTRA_ORANGELED, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);                       // wait for a second
  digitalWrite(EXTRA_ORANGELED, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);                       // wait for a second
}

 //lastButtonState = buttonState();
  
  

void brakeOff()
{

}
//IR Commands

void irforwards()
{
  Serial.println("IRforwards");
  //forwards();
  digitalWrite(FRONTLIGHTS_BLUELED, HIGH);
  servo1.write(105);
  delay(100);
  servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(75);
  delay(100);
  servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);


}

void irbackwards()
{
  Serial.println("IRbackwards");
  //backwards();
  digitalWrite(BACKLIGHTS_REDLED, HIGH);
  servo1.write(75);
  delay(100);
  servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(105);
  delay(100);
  servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);
}

void righty()
{
  Serial.println("IRrighty");
  //righty();
  servo1.write(75);
  delay(100);
  servo2.write(75);
  //servo3.write(105);
  delay(100);
  servo1.write(105);
  delay(100);
  servo2.write(105);
  // servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);
}

void lefty()
{
  Serial.println("IRlefty");
  //lefty();
  servo1.write(105);
  delay(100);
  //servo2.write(105);
  servo3.write(105);
  delay(100);
  servo1.write(75);
  delay(100);
  //servo2.write(75);
  servo3.write(75);
  delay(100);
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(100);
}

void irmiddleLeds()
{
  // turn on EXTRA_ORANGELED
  digitalWrite(EXTRA_ORANGELED, HIGH);
  delay(delayTime);
  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
  digitalWrite(BACKLIGHTS_REDLED, LOW);
  digitalWrite(EXTRA_ORANGELED, LOW);
  digitalWrite(buzzer, LOW);
}

void frontLeds()
{
  // turn on FRONTLIGHTS_BLUELED
  digitalWrite(FRONTLIGHTS_BLUELED, HIGH);
  delay(delayTime);
  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
  digitalWrite(BACKLIGHTS_REDLED, LOW);
  digitalWrite(EXTRA_ORANGELED, LOW);
  digitalWrite(buzzer, LOW);
}
void backLeds()
{
  // turn on BACKLIGHTS_REDLED
  digitalWrite(BACKLIGHTS_REDLED, HIGH);
  delay(delayTime);
  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
  digitalWrite(BACKLIGHTS_REDLED, LOW);
  digitalWrite(EXTRA_ORANGELED, LOW);
  digitalWrite(buzzer, LOW);
}

void horn()
{
  // turn on horn
  digitalWrite(buzzer, HIGH);
  delay(delayTime);
  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
  digitalWrite(BACKLIGHTS_REDLED, LOW);
  digitalWrite(EXTRA_ORANGELED, LOW);
  digitalWrite(buzzer, LOW);
}

void halt()
{

  digitalWrite(FRONTLIGHTS_BLUELED, LOW);
  digitalWrite(BACKLIGHTS_REDLED, LOW);
  digitalWrite(EXTRA_ORANGELED, LOW);
  digitalWrite(buzzer, LOW);
}