#include "Robot.h"
long map(long x, long in_min, long in_max, long out_min, long out_max);

static uint16_t adc_value = 0;


//if map doesnt readily work use this or u have to find a new way to represent
long map(long x, long in_min, long in_max, long out_min, long out_max) {
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

//you could do it so that if the range of 900<adc_value<1023, then light p a pattern of LEDs 

int main(void) {
  DDRA = 0xFF; // put PORTA into output mode
  PORTA = 0; //initially 0

  DDRF = 0x00; // put PORTF into input mode or  DDRF = 0xFC;
  //or use DDRF &= ~((1<<DDF0)|(1<<DDF1)); 
  //PORTF = 0x01; //enable pin 0 pull-up 

  adc_init(); //initialise ADC to read analo
  _delay_ms(20);
  serial0_init(); //initialise serial subsystem

  int b = 0;

  
  while (1) // main loop
  {

    adc_value = adc_read(0); //A0 OR = adc_read(1); for A1

    b = map(adc_value,0,1023,0,255); //0,255 repalced by temprature range of thermistor
    for (int i = 0; i < 8; i++){
      //Serial.print(bitRead(b, i));
      if(bitRead(b, i)==1){ //read bit and represent in binary
        PORTA |= (1 << i);
      }
      else{
        PORTA &= ~(1 << i);
      }
      //serial0_write_byte(bitRead(b, i));
    }
  }
  return (1);
} // end main