#include <Servo.h>
#include <Arduino.h>

/*Siming Ren, student # 300354794
Final exam. This program perform a sequence of tasks as specified.The tasks involve
the interactions between inputs(push buttons) and outputs (servo motor, LEDs).
*/

// Assign inputs and outputs ports to meaning variable name
int button_a = 2; //Button A to input port 2
int button_b = 12; //Button b to input port 12
int button_c = 8; //Button c to input port 8
int button_d = 7; //Button d to input port 7
int pos = 0; //Store the position used in task 2 where buttonb is involved

//The next four variables are modified inside ISR and therefore declared as volatile type
volatile int amberLED = 5; //Amberled to output port 5 
volatile int blueLED = 6; //Amberled to output port 6
volatile int greenLED = 10; //Amberled to output port 10
volatile int redLED = 9; //Amberled to output port 9
volatile int defaultbehavior = 1; //Initialize the default behavior changed in ISR to be on

long randomState; //Stores the random LED port number for task 2
Servo myservo; //servo motor instance declaration
unsigned long previousT; //Previous time used to compute elapsed time for millis()


//This function has the same affect as delay() except it does not use delay(), it takes specified interval as argument and returns nothing
void Delay(long interval){
  previousT = millis(); //Get and store previous time using millis()
  unsigned long currentT = previousT; //Make current time the same as previous time initially
  while (currentT - previousT < interval){ //Continously checking if elapsed time has reached time interval, if so, function returns
   currentT = millis(); //Cntinously update current time
 }
}

//This function blinks each LED twice
void blinktwice(int lednumber)
{
  //this loop blinks argument led twice
  for(int i = 0; i < 2; i++)
  {
    digitalWrite(lednumber,LOW); //led turned on for 150 ms
    Delay(250); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber,HIGH); //led turned off for 150 ms
    Delay(250);//Invoke Delay() funtion defined above with 250 ms interval
  }
}

//This function blinks each four times
void blinkfour(int lednumber)
{
  //this loop blinks argument led twice
  for(int i = 0; i < 4; i++)
  {
    digitalWrite(lednumber,LOW); //led turned on for 150 ms
    Delay(250); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber,HIGH); //led turned off for 150 ms
    Delay(250);//Invoke Delay() funtion defined above with 250 ms interval
  }
}

//This function alternately blinks 2 LEDS three times, in total of six times
void blinkthree(int lednumber1, int lednumber2)
{
  //this loop alternately blinks 2 LEDs for three times, each blink sequence count as 1 time
  for(int i = 0; i < 3; i++)
  {
    digitalWrite(lednumber1,LOW); //led turned on for 150 ms
    Delay(50); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber1,HIGH); //led turned off for 150 ms
    Delay(50);//Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber2,LOW); //led turned on for 150 ms
    Delay(50); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber2,HIGH); //led turned off for 150 ms
    Delay(50);//Invoke Delay() funtion defined above with 250 ms interval
  }
}

//This function alternately blinks 2 LEDS five times, in total of 10 times
void blinkfive(int lednumber1, int lednumber2)
{
  //this loop alternately blinks 2 LEDs for five times, each blink sequence count as 1 time
  for(int i = 0; i < 5; i++)
  {
    digitalWrite(lednumber1,LOW); //led turned on for 150 ms
    Delay(50); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber1,HIGH); //led turned off for 150 ms
    Delay(50);//Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber2,LOW); //led turned on for 150 ms
    Delay(50); //Invoke Delay() funtion defined above with 250 ms interval
    digitalWrite(lednumber2,HIGH); //led turned off for 150 ms
    Delay(50);//Invoke Delay() funtion defined above with 250 ms interval
  }
}

//ISR: This ISR is the definition of the rising edge triggered interrupt of pushbutton A
void defaultstatetrigger(){
  myservo.write(145); //Move servo to position 145
  if (defaultbehavior == 1){ //If default is on currently, disable it when rising edge is detected
    defaultbehavior = 0;
  } else{
     defaultbehavior = 1; //If default is off currently, enable it when rising edge is detected
  }
}



void setup() {
// put your setup code here, to run once:
//setup digital input pins for the push buttons
pinMode(button_a, INPUT);
pinMode(button_b, INPUT);
pinMode(button_c, INPUT);
pinMode(button_d, INPUT);

// setup digital output pins for the LEDs
pinMode(amberLED, OUTPUT);
pinMode(blueLED, OUTPUT);
pinMode(greenLED, OUTPUT);
pinMode(redLED, OUTPUT);
myservo.attach(11); //attach pin 11 as the servo control port
attachInterrupt(0,defaultstatetrigger,RISING);
}

void loop() {
  //Turn off all LEDs initially
    digitalWrite(amberLED,HIGH);
    digitalWrite(blueLED,HIGH);
    digitalWrite(greenLED,HIGH);
    digitalWrite(redLED,HIGH);
    //If default behavior is enabled, perform blink five times, otherwise turn off all leds and move servo to 145
  if(defaultbehavior==1){
  blinkfive(amberLED, greenLED);
  blinkfive(blueLED, redLED);
  } else{
    digitalWrite(amberLED,HIGH);
    digitalWrite(blueLED,HIGH);
    digitalWrite(greenLED,HIGH);
    digitalWrite(redLED,HIGH);
  }

//Task 3: LED chaser that blinks each led twice in the specified sequence
 while(digitalRead(button_c)){
    blinktwice(greenLED); //Blink green LED twice
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(redLED); //Blink red LED twice
    //Break if button_a is released, all LEDs turned off
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(blueLED); //Blink blue LED twice
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(amberLED); //Blink amber LED twice
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(amberLED);
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(blueLED);
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(redLED);
    if (digitalRead(button_c)==LOW){
    break;
    }
    blinktwice(greenLED);
    if (digitalRead(button_c)==LOW){
    break;
    }
  }

  //Task 2: Oscillate the servo between 10 and 120 degrees in a smooth manner
  while (digitalRead(button_b)){
    for (pos = 10; pos <= 120; pos += 1) { // moves from 10 degrees to 120 degrees in step of 1
    myservo.write(pos);              // Go the pos
    Delay(8);                      // Delay 8 ms
  }
  for (pos = 120; pos >= 10; pos -= 1) { // moves from 120 degrees to 10 degrees in step of 1
    myservo.write(pos);              // Go to pos
    Delay(8);   //Delay 8 ms
  }
}

//Task 4: Random state selector 
  while(digitalRead(button_d)){
    //generate a random state between 1 and 3
    randomState = random(1,4);
    //If random state generated is 1, perform the following tasks
    if (randomState == 1){
      myservo.write(30); //Move servo to 30 degrees
      blinktwice(greenLED);  //Blink greenLED 2 times
    }
    //If random state generated is 2, perform the following tasks
     else if (randomState == 2){
      myservo.write(90); //Move servo to 90 degrees
      blinkthree(redLED, blueLED); //Alternately blinks red and blue LEDs 3 times
    } else {
      myservo.write(150); //Move servo to 150 degrees
      blinkfour(amberLED);
    }
    //Break the loop is button_d is released, stops the tasks
    if (digitalRead(button_b)==LOW){
    break;
    }
  }

}