/*ARDUINO JOYSTICK CONTROLLED CAR (RECEIVER)
        
YOU HAVE TO INSTALL THE RF24 LIBRARY BEFORE UPLOADING THE CODE
   https://github.com/tmrh20/RF24/        
*/
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
//#define enA 2  
//#define in1 3
//#define in2 4
//#define enB 7   
//#define in3 5
//#define in4 6
const int relay_pin1 = 3; // Change this to your relay pin number
const int relay_pin2 = 4;
const int relay_pin3 = 5;
const int relay_pin4 = 6;
RF24 radio(8, 9); // CE, CSN
const byte address[6] = "00001";
char receivedData[32] = "";
int  xAxis, yAxis;
int motorSpeedA = 0;
int motorSpeedB = 0;
void setup() {
  //pinMode(enA, OUTPUT);
  //pinMode(enB, OUTPUT);
  //pinMode(in1, OUTPUT);
  //pinMode(in2, OUTPUT);
  //pinMode(in3, OUTPUT);
  //pinMode(in4, OUTPUT);
  pinMode(relay_pin1, OUTPUT);
  pinMode(relay_pin2, OUTPUT);
  pinMode(relay_pin3, OUTPUT);
  pinMode(relay_pin4, OUTPUT);
  Serial.begin(9600);
  radio.begin();
  radio.openReadingPipe(0, address);
  radio.setPALevel(RF24_PA_MIN);
  radio.startListening();
}
void loop() {
  if (radio.available()) {   // If the NRF240L01 module received data
    radio.read(&receivedData, sizeof(receivedData)); // Read the data and put it into character array
    xAxis = atoi(&receivedData[0]); // Convert the data from the character array (received X value) into integer
    delay(10);
    radio.read(&receivedData, sizeof(receivedData));
    yAxis = atoi(&receivedData[0]);
    delay(10);
  }
  
  // Y-axis used for forward and backward control
  if (yAxis < 470) {
    // Set Motor A backward
    digitalWrite(relay_pin3, HIGH);
    digitalWrite(relay_pin4, LOW);
    // Set Motor B backward
    //digitalWrite(in3, HIGH);
    //digitalWrite(in4, LOW);
    // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
    //motorSpeedA = map(yAxis, 470, 0, 0, 255);
    //motorSpeedB = map(yAxis, 470, 0, 0, 255);
      //motorSpeedA = 255;
      //motorSpeedB = 255;
  }
  else if (yAxis > 550) {
    // Set Motor A forward
    digitalWrite(relay_pin3, LOW);
    digitalWrite(relay_pin4, HIGH);
    // Set Motor B forward
    //digitalWrite(in3, LOW);
   // digitalWrite(in4, HIGH);
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
    //motorSpeedA = map(yAxis, 550, 1023, 0, 255);
    //motorSpeedB = map(yAxis, 550, 1023, 0, 255);
    // motorSpeedA = 255;
    // motorSpeedB = 255;

  }
  // If joystick stays in middle the motors are not moving
  else {
    //motorSpeedA = 0;
    //motorSpeedB = 0;
    digitalWrite(relay_pin3, LOW);
    digitalWrite(relay_pin4, LOW);

  }
  // X-axis used for left and right control
  if (xAxis < 470) {
    digitalWrite(relay_pin1, HIGH);
    digitalWrite(relay_pin2, LOW);
    // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
    //int xMapped = map(xAxis, 470, 0, 0, 255);
    //int xMapped = 255;

    // Move to left - decrease left motor speed, increase right motor speed
    //motorSpeedA = motorSpeedA + xMapped;
    //motorSpeedB = motorSpeedB - xMapped;
    // Confine the range from 0 to 255
    //if (motorSpeedA < 0) {
      //motorSpeedA = 0;
    }
    //if (motorSpeedB > 255) {
    //motorSpeedB = 255;
    

 else if (xAxis > 550) {
    // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
    //int xMapped = map(xAxis, 550, 1023, 0, 255);
    //int xMapped = 255;
    digitalWrite(relay_pin1, LOW);
    digitalWrite(relay_pin2, HIGH);
    // Move right - decrease right motor speed, increase left motor speed
    // motorSpeedA = motorSpeedA - xMapped;
    // motorSpeedB = motorSpeedB + xMapped;
    // Confine the range from 0 to 255
    //if (motorSpeedA > 255) {
      //motorSpeedA = 255;
    }
   else {
    //motorSpeedA = 0;
    //motorSpeedB = 0;
    digitalWrite(relay_pin1, LOW);
    digitalWrite(relay_pin2, LOW);

  }
    //if (motorSpeedB < 0) {
     //motorSpeedB = 0;
    

  // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70)
  //if (motorSpeedA < 70) {
    //motorSpeedA = 0;
  
  //if (motorSpeedB < 70) {
    //motorSpeedB = 0;
  
  //analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  //analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
}