#define BLYNK_TEMPLATE_ID "TMPL3oi9kH5b0"
#define BLYNK_TEMPLATE_NAME "IoT vehicle"
#define BLYNK_AUTH_TOKEN "h_KVzHLkxzIDl2aFF9trIGPmBtsF172p"

#define BLYNK_PRINT Serial

#include <WiFi.h>
#include <BlynkSimpleEsp32.h>

char auth[] = BLYNK_AUTH_TOKEN;
char ssid[] = "Wokwi-GUEST"; // WiFi SSID name
char pass[] = ""; // WiFi password

#define virtualignition V0
#define virtualrelay1 V1
#define virtualrelay2 V2
#define virtualrelay3 V3
#define virtualrelay4 V4
#define virtualxaxis V5
#define virtualyaxis V6
#define virtualguage V7

const int battery = A0;
const int relay1 = 32;
const int relay2 = 33;
const int relay3 = 25;
const int relay4 = 26;
const int leftclock = 23;
const int leftanti = 22;
const int rightclock = 21;
const int rightanti = 19;

int xaxis = 50;
int yaxis = 50;
int fpwm;
int bpwm;
int lpwm;
int rpwm;
int ignition;
int relay1state = LOW;
int relay2state = LOW;
int relay3state = LOW;
int relay4state = LOW;

float batteryvoltage;

bool engine;

void setup(){
  Blynk.begin(auth, ssid, pass);
  pinMode(battery, INPUT);
  pinMode(leftclock, OUTPUT);
  pinMode(leftanti, OUTPUT);
  pinMode(rightclock, OUTPUT);
  pinMode(rightanti, OUTPUT);
  pinMode(relay1, OUTPUT);
  pinMode(relay2, OUTPUT);
  pinMode(relay3, OUTPUT);
  pinMode(relay4, OUTPUT);
}

void forward(){
  analogWrite(leftclock, 0);
  analogWrite(leftanti, fpwm);
  analogWrite(rightclock, fpwm);
  analogWrite(rightanti, 0);
}

void backward(){
  analogWrite(leftclock, bpwm);
  analogWrite(leftanti, 0);
  analogWrite(rightclock, 0);
  analogWrite(rightanti, bpwm);  
}

void leftward(){
  analogWrite(leftclock, lpwm);
  analogWrite(leftanti, 0);
  analogWrite(rightclock, lpwm);
  analogWrite(rightanti, 0); 
}

void rightward(){
  analogWrite(leftclock, 0);
  analogWrite(leftanti, rpwm);
  analogWrite(rightclock, 0);
  analogWrite(rightanti, rpwm);
}

BLYNK_WRITE(virtualignition){
  ignition = param.asInt();
}

BLYNK_WRITE(virtualrelay1){
  relay1state = param.asInt();
}

BLYNK_WRITE(virtualrelay2){
  relay2state = param.asInt();
}

BLYNK_WRITE(virtualrelay3){
  relay3state = param.asInt();
}

BLYNK_WRITE(virtualrelay4){
  relay4state = param.asInt();
}

BLYNK_WRITE(virtualxaxis){
  xaxis = param.asInt();
}

BLYNK_WRITE(virtualyaxis){
  yaxis = param.asInt();
}

void loop(){
  Blynk.run();

  batteryvoltage = analogRead(battery);
  batteryvoltage = batteryvoltage * (29.0/1023.0);

  if(batteryvoltage > 28.9){
    engine = true;
  }
  else if(batteryvoltage < 25.9){
    engine = false;
  }

  batteryvoltage = (batteryvoltage/29) * 100;
  Blynk.virtualWrite(virtualguage, batteryvoltage);
  if(engine && ignition){
  digitalWrite(relay1, relay1state? HIGH: LOW);
  digitalWrite(relay2, relay2state? HIGH: LOW);
  digitalWrite(relay3, relay3state? HIGH: LOW);
  digitalWrite(relay4, relay4state? HIGH: LOW);

    if(yaxis > 50){
      fpwm = map(yaxis, 50, 100, 0, 255);
      forward();
    }
    else if(yaxis < 50){
      bpwm = map(yaxis, 50, 0, 0, 255);
      backward();
    }

    if(xaxis > 50){
      rpwm = map(xaxis, 50, 100, 0, 255);
      rightward();
    }
    else if(xaxis < 50){
      lpwm = map(xaxis, 50, 0, 0, 255);
      leftward();
    }
  }
}