#include <IRremote.h>

// assign pin values for each of the motors
const int motor1_1 = 3; // motor 1 is right
const int motor1_2 = 4;
const int motor2_1 = 5; // motor 2 is left
const int motor2_2 = 6;
const int motor3_1 = A0; // motor 3 is up and down
const int motor3_2 = A2;

unsigned long motor1_timeout = 0; 
unsigned long motor2_timeout = 0; 
unsigned long motor3_timeout = 0; 
unsigned long TIMEOUT = 250; // make timeout value 500 ms

// assign pin value for the IR receiver pin
int RECV_PIN = 10;
IRrecv irrecv(RECV_PIN);
decode_results results;

// define HEX values for blimp motions
long BLIMP_FORWARD = 0xA25D01FE;    // these are the same as the TV remote I'm using
long BLIMP_BACKWARD = 0xA25D817E;
long BLIMP_LEFT =  0xA25D8A75; //0xF24A08F7
long BLIMP_RIGHT = 0xA25DB24D; // 0xF24A48B7;
long BLIMP_UP = 0xA25D04FB; //0xF24A8877; 
long BLIMP_DOWN = 0xA25D7B84; // 0xF24A28D7

void setup(){
    pinMode(13, OUTPUT);    
    digitalWrite(13, HIGH);
    delay(1000);
    digitalWrite(13, LOW);
    pinMode(motor1_1, OUTPUT);
    pinMode(motor1_2, OUTPUT);
    pinMode(motor2_1, OUTPUT);
    pinMode(motor2_2, OUTPUT);
    pinMode(motor3_1, OUTPUT);
    pinMode(motor3_2, OUTPUT);


    Serial.begin(9600);
    irrecv.enableIRIn(); // Start the receiver
}

void loop(){
// read signal from IR controller

if (irrecv.decode(&results)) {
    digitalWrite(13, HIGH);
    Serial.println(results.value, HEX);
    
    if (results.value == BLIMP_FORWARD){ // for blimp forward, have both motors move forward simultaneously
      digitalWrite(motor1_1, HIGH);
      digitalWrite(motor1_2, LOW);
      digitalWrite(motor2_1, HIGH);
      digitalWrite(motor2_2, LOW);
      motor1_timeout = millis(); 
      motor2_timeout = millis(); 
    }else if (results.value == BLIMP_BACKWARD){// for blimp backward, have both motors move backward simultaneously
      digitalWrite(motor1_1, LOW);
      digitalWrite(motor1_2, HIGH);
      digitalWrite(motor2_1, LOW);
      digitalWrite(motor2_2, HIGH);
      motor1_timeout = millis(); 
      motor2_timeout = millis(); 
    }else if (results.value == BLIMP_LEFT){ // blimp left, have right motor go forward, and left motor go backwards
      digitalWrite(motor1_1, HIGH);
      digitalWrite(motor1_2, LOW);
      digitalWrite(motor2_1, LOW);
      digitalWrite(motor2_2, HIGH);
      motor1_timeout = millis(); 
      motor2_timeout = millis(); 
    }else if (results.value == BLIMP_RIGHT){ // blimp right, have left motor go forward, and right motor go backwards
      digitalWrite(motor1_1, LOW);
      digitalWrite(motor1_2, HIGH);
      digitalWrite(motor2_1, HIGH);
      digitalWrite(motor2_2, LOW);
      motor1_timeout = millis(); 
      motor2_timeout = millis(); 
    }else if (results.value == BLIMP_UP){ // blimp up, have motor go forwards
      digitalWrite(motor3_1, HIGH);
      digitalWrite(motor3_2, LOW);
      motor3_timeout = millis(); 
    }else if (results.value == BLIMP_DOWN){ // blimp down, have motor go backwards
      digitalWrite(motor3_1, LOW);
      digitalWrite(motor3_2, HIGH);
      motor3_timeout = millis(); 
    }

    
    irrecv.resume(); // Receive the next value
  }
  if (millis()-motor1_timeout >= TIMEOUT){ // if no signal in 500 ms, turn motors off
    digitalWrite(motor1_1, LOW);
    digitalWrite(motor1_2, LOW);
  }
    if (millis()-motor2_timeout >= TIMEOUT){
    digitalWrite(motor2_1, LOW);
    digitalWrite(motor2_2, LOW);
  }
    if (millis()-motor3_timeout >= TIMEOUT){
    digitalWrite(motor3_1, LOW);
    digitalWrite(motor3_2, LOW);
  }
  
  digitalWrite(13, LOW);
}