#include "BluetoothSerial.h"
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
//-------------------------------------
#include <Otto.h>
#include<ESP32Servo.h>
Otto Otto;
#define LeftLeg 18 
#define RightLeg 5
#define LeftFoot 4 
#define RightFoot 34 
#define Buzzer  11 
#define Trigger 12 // ultrasonic sensor trigger pin
#define Echo 13 // ultrasonic sensor echo pin
//--------------------------------------
void setup() {
  Serial.begin(115200);
  delay(1000);
  SerialBT.begin("PA2023"); //Bluetooth device name
  Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
  Serial.println("The device started, now you can pair it with bluetooth!");
}
void loop() {
  //if (SerialBT.available()) {
    //if (SerialBT.read() == 'A') {
      //Serial.println("Nhay");
      Otto.walk(2, 1000, 1); //2 steps, "TIME". IF HIGHER THE VALUE THEN SLOWER (from 600 to 1400), 1 FORWARD
      Otto.walk(2, 1000, -1); //2 steps, T, -1 BACKWARD
      Otto.turn(2, 1000, 1); //3 steps turning LEFT
      Otto._tone(10, 3, 1);
      Otto.bendTones (100, 200, 1.04, 10, 10);
      Otto.home();
      delay(100);
      Otto.turn(2, 1000, -1); //3 steps turning RIGHT
      Otto.bend (1, 500, 1); //usually steps =1, T=2000
      Otto.bend (1, 2000, -1);
      Otto.shakeLeg (1, 1500, 1);
      Otto.home();
      delay(100);
      Otto.shakeLeg (1, 2000, -1);
      Otto.moonwalker(3, 1000, 25, 1); //LEFT
      Otto.moonwalker(3, 1000, 25, -1); //RIGHT
      Otto.crusaito(2, 1000, 20, 1);
      Otto.crusaito(2, 1000, 20, -1);
      delay(100);
      Otto.flapping(2, 1000, 20, 1);
      Otto.flapping(2, 1000, 20, -1);
      delay(100);
      Otto.swing(2, 1000, 20);
      Otto.tiptoeSwing(2, 1000, 20);
      Otto.jitter(2, 1000, 20); //(small T)
      Otto.updown(2, 1500, 20);  // 20 = H "HEIGHT of movement"T
      Otto.ascendingTurn(2, 1000, 50);
      Otto.jump(1, 500); // It doesn't really jumpl ;P
      Otto.home();
      //else{
        
      //}
    //}
  delay(20);
}