/* 10-9-6-5 Buzzer 11  A083
  Pat's V10 Final BT-IR Combo 4 Wheel Drive 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, IR Library Timer conflicts with analogWrite with pin 11?
  Modified by Pat McMahon (V10) 20/5/2024, in1=10,in2=9,in3=6,in4=5, 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.Main Code is Forward 2 & 4, Back 1 & 3.
*/
#include <IRremote.h> //You must use V2.01 instead of latest V4.42
 
const int ledBlue = 3;
const int ledRed = 4;
const int ledOrange = 13;
const int buzzer = 11;

const int RECV_PIN = 2;
const int SEND_PIN = 12;
#define USE_NO_CARRIER = 1;
int lastMiniIRCommand = 0;

IRrecv irrecv(RECV_PIN,SEND_PIN);
// connect motor controller pins to Arduino digital pins

// motor one
#define in1 10 //L298n Motor Driver pins.
#define in2 9

// motor two
#define in3 6
#define in4 5

const int delayTime = 300;
//#define LED 2
#define FRONTLIGHTS 3 //Blue LED's
#define BACKLIGHTS 4  //Red Led's
#define HORN 11  //Passive Buzzer
#define EXTRA 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() {
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  // pinMode(LED, OUTPUT); //Set the LED pin.
  pinMode(FRONTLIGHTS, OUTPUT);
  pinMode(BACKLIGHTS, OUTPUT);
  pinMode(HORN, OUTPUT);
  pinMode(EXTRA, OUTPUT);// MIDDLELIGHTS
  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(9600); //Set the baud rate to your Bluetooth module.

  // set all the motor control pins to outputs
 
  pinMode(ledBlue, OUTPUT);
  pinMode(ledRed, OUTPUT);
  pinMode(ledOrange, 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':
        forward();
        break;
      case 'B':
        back();
        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;
    }

    Speedsec = Turnradius;
    if (brkonoff == 1) {
      brakeOn();
    } else {
      brakeOff();
    }
    
  }

  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!");
        lefty();
        break;
      case 0xCD0:
        Serial.println("Righty!");
        righty();
        break;
      case 0x738:
        Serial.println("middleLeds!"); // 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!");
        horn();
        break;
      case 0xA70:
        Serial.println("Stop!");
        halt();
        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("middleLeds!"); // Middle Orange Led's
        middleLeds();
        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 forward() {
  Serial.println("BT Forward");
  //forwards();
  analogWrite(in2, Speed);
  analogWrite(in4, Speed);

}
  
void back() {
  Serial.println("BT Back");
  //backwards();
  digitalWrite(in1, Speed);
  analogWrite(in3, Speed);
}

void left() {
  Serial.println("BT Left");
  //lefty();
  analogWrite(in2, Speed);
  analogWrite(in3, Speed);
}

void right() {
  Serial.println("BT Right");
  //righty();
  analogWrite(in4, Speed);
  digitalWrite(in1, Speed);
  
}
void forwardleft() {
  Serial.println("BT Forwardleft");
  analogWrite(in4, Speedsec);
  analogWrite(in2, Speed);
}
void forwardright() {
  Serial.println("BT Forwardright");
  analogWrite(in4, Speed);
  analogWrite(in2, Speedsec);
}
void backright() {
  Serial.println("BT Backright");
  analogWrite(in3, Speed);
  analogWrite(in1, Speedsec);
}
void backleft() {
  Serial.println("BT Backleft");
  analogWrite(in3, Speedsec);
  analogWrite(in1, Speed);
}
void FrontLightsOff() {
  digitalWrite(FRONTLIGHTS, LOW);
}

void FrontLightsOn() {
  digitalWrite(FRONTLIGHTS, HIGH);
}
void HornOff() {
  digitalWrite(HORN, LOW);
}
void HornOn() {
  digitalWrite(HORN, HIGH);
}
void ExtraOff() {
  digitalWrite(EXTRA, 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, LOW);
}

void BackLightsOn() {
  digitalWrite(BACKLIGHTS, HIGH);
}
void Stop() {
  analogWrite(in1, 0);
  analogWrite(in2, 0);
  analogWrite(in3, 0);
  analogWrite(in4, 0);
}
// the loop function runs over and over again forever
void MIDDLELIGHTS() {
  digitalWrite(EXTRA, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);                       // wait for a second
  digitalWrite(EXTRA, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);                       // wait for a second
}
void brakeOn() {
  //Here's the future use: an electronic braking system!
  // read the pushbutton input pin:
  buttonState = command;
  // compare the buttonState to its previous state
  if (buttonState != lastButtonState) {
    // if the state has changed, increment the counter
    if (buttonState == 'S') {
      if (lastButtonState != buttonState) {
        digitalWrite(in1, HIGH);
        digitalWrite(in2, HIGH);
        digitalWrite(in3, HIGH);
        digitalWrite(in4, HIGH);
        delay(brakeTime);
        Stop();
      }
    }
    // save the current state as the last state,
    //for next time through the loop
    lastButtonState = buttonState;
  }
}
void brakeOff() {

}
//IR Commands

void forwards()
{
  // turn on motor A
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(ledBlue, HIGH);
  // turn on motor B
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  digitalWrite(ledBlue, HIGH);
  delay(delayTime);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void backwards()
{
  // turn on motor A
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(ledRed, HIGH);
  // turn on motor B
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  digitalWrite(ledRed, HIGH);
  delay(delayTime);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void righty()
{
  // turn on motor A
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(ledOrange, HIGH);
  // turn on motor B
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  digitalWrite(ledOrange, HIGH);
  delay(delayTime);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void lefty()
{
  // turn on motor A
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(ledOrange, HIGH);
  // turn on motor B
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  digitalWrite(ledOrange, HIGH);
  delay(delayTime);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}
void middleLeds()
{
  // turn on ledOrange
  digitalWrite(ledOrange, HIGH);
  delay(delayTime);
  // turn off ledOrange
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void frontLeds()
{
  // turn on ledBlue
  digitalWrite(ledBlue, HIGH);
  delay(delayTime);
  // turn off ledBlue
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}
void backLeds()
{
  // turn on ledRed
  digitalWrite(ledRed, HIGH);
  delay(delayTime);
  // turn off ledRed
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void horn()
{
  // turn on horn
  digitalWrite(buzzer, HIGH);
  delay(delayTime);
  // turn off horn
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);
}

void halt()
{
  // stop both motors
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(ledBlue, LOW);
  digitalWrite(ledRed, LOW);
  digitalWrite(ledOrange, LOW);
  digitalWrite(buzzer, LOW);;
}