/*********
  Rui Santos
  Complete project details at https://randomnerdtutorials.com  
*********/
//CODE FOR BUTTON TO TURN ON LIGHT
#include <BLEDevice.h>
#include <BLEUtils.h>
#include <BLEServer.h>

const int BUTTON =15;
int BUTTONstate = 0;


// Motor A
int motor1Pin1 = 12; 
int motor1Pin2 = 13; 
unsigned long myTime;
unsigned long pastTime;
unsigned long eventInterval = 2;

//the pins for the same motor need to be set to different values
//Motor B
int motor2Pin1 = 14;  
int motor2Pin2 = 2; 
bool left_wheel_moved=false;
bool right_wheels_turn=false;


// Setting PWM properties
const int freq = 30000;
const int pwmChannel = 0;
const int resolution = 8;
int dutyCycle = 200;
int delay_wheel_one_f= delay_wheel_one_f;
int delay_wheel_two_f=delay_wheel_two_f;


// See the following for generating UUIDs:
// https://www.uuidgenerator.net/

#define SERVICE_UUID        "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8"


class MyCallbacks: public BLECharacteristicCallbacks {
    void onWrite(BLECharacteristic *pCharacteristic) {
      std::string value = pCharacteristic->getValue();

      if (value.length() > 0) {
        Serial.println("*********");
        Serial.print("New value: ");
        for (int i = 0; i < value.length(); i++)
          Serial.print(value[i]);
         if(value=="F")
         {
          Serial.println("works");
           digitalWrite(2,LOW); //TRY 8:both wheels forward
  digitalWrite(14,HIGH); //TRY 8:both wheels forwarD 
    delay(10);
   digitalWrite(13,LOW); //TRY 8:both wheels forward
 digitalWrite(12,HIGH); //TRY 8:both wheels forward
  delay(50);
         }

        Serial.println();
        Serial.println("*********");
      }
    }
};
void setup() {
   /*put it as input, so that it can read the state of the button*/
   
  pinMode(BUTTON, INPUT_PULLUP);
 
 

  
  // sets the pins as outputs:
  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);
  pinMode(motor2Pin1, OUTPUT);
  pinMode(motor2Pin2, OUTPUT);
  //pinMode(enable1Pin, OUTPUT);

  
  // configure LED PWM functionalitites
  ledcSetup(pwmChannel, freq, resolution);
  
  // attach the channel to the GPIO to be controlled
  //ledcAttachPin(enable1Pin, pwmChannel);

  Serial.begin(115200);
 // configure LED PWM functionalitites
  ledcSetup(pwmChannel, freq, resolution);
  // testing

  Serial.print("Testing DC Motor...");

Serial.begin(115200);

  Serial.println("1- Download and install an BLE scanner app in your phone");
  Serial.println("2- Scan for BLE devices in the app");
  Serial.println("3- Connect to MyESP32");
  Serial.println("4- Go to CUSTOM CHARACTERISTIC in CUSTOM SERVICE and write something");
  Serial.println("5- See the magic =)");

  BLEDevice::init("MyESP32");
  BLEServer *pServer = BLEDevice::createServer();

  BLEService *pService = pServer->createService(SERVICE_UUID);

  BLECharacteristic *pCharacteristic = pService->createCharacteristic(
                                         CHARACTERISTIC_UUID,
                                         BLECharacteristic::PROPERTY_READ |
                                         BLECharacteristic::PROPERTY_WRITE
                                       );

  pCharacteristic->setCallbacks(new MyCallbacks());

  pCharacteristic->setValue("Hello World");
  pService->start();

  BLEAdvertising *pAdvertising = pServer->getAdvertising();
  pAdvertising->start();
}
void forward(){
  digitalWrite(2,LOW); //TRY 8:both wheels forward
  digitalWrite(14,HIGH); //TRY 8:both wheels forwarD 
    delay(10);
   digitalWrite(13,LOW); //TRY 8:both wheels forward
 digitalWrite(12,HIGH); //TRY 8:both wheels forward
  delay(50);
  
}
void forward2(){
  digitalWrite(2,LOW); //TRY 8:both wheels forward
  digitalWrite(14,HIGH); //TRY 8:both wheels forwarD 
    delay(10);
   digitalWrite(13,LOW); //TRY 8:both wheels forward
 digitalWrite(12,HIGH); //TRY 8:both wheels forward
  delay(20);
  
}
void stop1(){
   digitalWrite(2,LOW); //TRY 8:both wheels forward
  digitalWrite(14,LOW); //TRY 8:both wheels forwarD 

   digitalWrite(13,LOW); //TRY 8:both wheels forward
 digitalWrite(12,LOW); //TRY 8:both wheels forward
  delay(1000);
  
  
}
void first_right(){
   digitalWrite(2,LOW); //TRY 8:both wheels forward
  digitalWrite(14,HIGH); //TRY 8:both wheels forwarD 
    delay(100);
   digitalWrite(13,LOW); //TRY 8:both wheels forward
 digitalWrite(12,HIGH); //TRY 8:both wheels forward
  delay(1000);
  
}
void first_left(){
   digitalWrite(2,HIGH); //TRY 8:both wheels forward
  digitalWrite(14,LOW); //TRY 8:both wheels forwarD 
    delay(100);
   digitalWrite(13,HIGH); //TRY 8:both wheels forward
 digitalWrite(12,LOW); //TRY 8:both wheels forward
  delay(500);
  
}
void back(){
   digitalWrite(2,HIGH); //TRY 8:both wheels forward
  digitalWrite(14,LOW); //TRY 8:both wheels forwarD 
    delay(10);
   digitalWrite(13,HIGH); //TRY 8:both wheels forward
 digitalWrite(12,LOW); //TRY 8:both wheels forward
  delay(100);
  
}
void loop() {
  
  //Motor B
  if(digitalRead(BUTTON)==HIGH){
    Serial.println("first forward");
    forward();
    stop1();
    Serial.println("second forward");
    forward();
    stop1();
    Serial.println("third forward");
    forward();
    stop1();
    Serial.println("fourth forward");
    forward();
    stop1();
     Serial.println("fourth forward");
    forward();
    stop1();
     Serial.println("fourth forward");
    forward();
    stop1();
     Serial.println("fourth forward");
    forward();
    stop1();
    Serial.println("first right");
    first_right();
    stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_left();
  stop1();
  first_left();
  stop1();
stop1();
     Serial.println("fourth forward");
    forward();
    stop1();
    Serial.println("first right");
    first_right();
    stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_right();
  stop1();
  first_left();
  stop1();
  first_left();
  stop1();
   
   
   
 



  }
  else{
  digitalWrite(motor2Pin1, LOW);
  digitalWrite(motor2Pin2, LOW);
  digitalWrite(motor1Pin1,LOW);
  digitalWrite(motor1Pin2, LOW);
  }
}