//define outputs for motor control
int P_FET_Q1 = 5;
int N_FET_Q4 = 9;
int P_FET_Q3 = 6;
int N_FET_Q2 = 10;

//define inputs for motor control
int MovPos0m = 13;    //button to drive close to person 
int MovPos5m = 14;    //button to drive to 5 meter distance
int MovPos7m = 15;    //button to drive to 7 meter distance
int MovPos10m = 16;   //button to drive to 10 meter distance
int PreSw0m = 19;     //preswitch to slow down velocity bevor the carriage arived at person
int PreSw5m = 20;     //preswitch to slow down velocity bevor the carriage arived at 5m
int PreSw7m = 21;     //preswitch to slow down velocity bevor the carriage arived at 7m
int PreSw10m = 22;    //preswitch to slow down velocity bevor the carriage arived at 10m
int LiSw0m = 23;      //limitwitch to stop the carriage arived at person
int LiSw5m = 24;      //limitwitch to stop the carriage arived at 5m
int LiSw7m = 25;      //limitwitch to stop the carriage arived at 7m
int LiSw10m = 26;     //limitwitch to stop the carriage arived at 10m

//variables for controlling
int PWM = 0;          //variable for pwm signal
int actPos = 0;       //actual position of the carriage
int setPos = 0;       //position to which the carriage should move 

void setup() {
  //MosFet Transistor switch off
  digitalWrite(N_FET_Q2, LOW);
  digitalWrite(P_FET_Q3, LOW);
  digitalWrite(N_FET_Q4, LOW);
  digitalWrite(P_FET_Q1, LOW);
  //define pinMode for outputs signals
  pinMode(P_FET_Q1, OUTPUT);
  pinMode(N_FET_Q2, OUTPUT);
  pinMode(P_FET_Q3, OUTPUT);
  pinMode(N_FET_Q4, OUTPUT);
  //define pinMode for input signals
  //buttons for different positions
  pinMode(MovPos0m, INPUT);
  pinMode(MovPos5m, INPUT);
  pinMode(MovPos7m, INPUT);
  pinMode(MovPos10m, INPUT);
  //preswitches to slow down the velocity
  pinMode(PreSw0m, INPUT);
  pinMode(PreSw5m, INPUT);
  pinMode(PreSw7m, INPUT);
  pinMode(PreSw10m, INPUT);
  //limitswitches to stop at defined distance
  pinMode(LiSw0m, INPUT);
  pinMode(LiSw5m, INPUT);
  pinMode(LiSw7m, INPUT);
  pinMode(LiSw10m, INPUT);
}

void driveForward() {
  digitalWrite(P_FET_Q1, HIGH);
  delay(10);
  //acceleration
  //Drive Forward (0% -> 99%)
  while (PWM < 255) {
    analogWrite(N_FET_Q4, PWM);
    PWM++;
    delay(10);
  }
  PWM = 0;
  delay(10);
}

void driveBackward(){
  digitalWrite(P_FET_Q3, HIGH);
  delay(10);
  //acceleration
  //Drive Backward (0% -> 99%)
  while (PWM < 255) {
    analogWrite(N_FET_Q2, PWM);
    PWM++;
    delay(10);
  }
  PWM = 0;
  delay(10);
}

void decForward() {  
  //declaration
  //Drive Backward (99% -> 0%)
  while (PWM > 0) {
    analogWrite(N_FET_Q2, PWM);
    PWM--;
    delay(10);
  }
}

void decBackward () {
  //declaration
  //Drive Forward (99% -> 0%)
  while (PWM > 0) {
    analogWrite(N_FET_Q4, PWM);
    PWM--;
    delay(10);  
    }
  }

 void stopMotor () {
    delay(10); 
    digitalWrite(P_FET_Q1, LOW);
    delay(10);
    digitalWrite(N_FET_Q2, LOW);
    delay(10);
    digitalWrite(P_FET_Q3, LOW);
    delay(10);
    digitalWrite(N_FET_Q4, LOW);
    delay(1000);
  }

void loop() {
  // Taster für 0m wurde gedrückt
  if (digitalRead(MovPos0m==LOW)) {
    setPos = 0;
    if (actPos < setPos) {
      while (PreSw0m==LOW) {
        driveForward();
      }
      while (LiSw0m==LOW) {
        decForward();
      }
    }
    else {
      while (PreSw0m==LOW) {
        driveBackward();
      }
      while (LiSw0m==LOW) {
        decForward();
      }
    }
    stopMotor();
    actPos = 0;
  }
  //Taster für 5m wurde gedrückt
  if (digitalRead(MovPos5m==LOW)) {
    setPos = 5;
    if (actPos < setPos) {
      while (PreSw5m==LOW) {
        driveForward();
      }
      while (LiSw5m==LOW) {
        decForward();
      }
    }
    else {
      while (PreSw5m==LOW) {
        driveBackward();
      }
      stopMotor();
      delay(10);
      while (LiSw5m==LOW) {
        decForward();
      }
    }
    stopMotor();
    actPos = 5;
  }
  // Taster für 7m wurde gedrückt
  if (digitalRead(MovPos7m==LOW)) {
    setPos = 7;
    if (actPos < setPos) {
      while (PreSw7m==LOW) {
        driveForward();
      }
      while (LiSw7m==LOW) {
        decForward();
      }
    }
    else {
      while (PreSw7m==LOW) {
        driveBackward();
      }
      while (LiSw7m==LOW) {
        decForward();
      }
    }
    stopMotor();
    actPos = 7;
  }
  // Taster für 10m wurde gedrückt 
  if (digitalRead(MovPos10m==LOW)) {
    setPos = 10;
    if (actPos < setPos) {
      while (PreSw10m==LOW) {
        driveForward();
      }
      while (LiSw10m==LOW) {
        decForward();
      }
    }
    else {
      while (PreSw10m==LOW) {
        driveBackward();
      }
      while (LiSw10m==LOW) {
        decForward();
      }
    }
    stopMotor();
    actPos = 10;
  }
}