#include <Servo.h>
#include <EEPROM.h>

#define button 23//button to up/down mechanism start
#define act11 22//actuator 1 l298 pin IN1
#define act12 25//actuator 1 l298 pin IN2
#define act21 24//actuator 2 l298 pin IN3
#define act22 27//actuator 2 l298 pin IN4
#define s1 4 //Servo 1
#define s2 5 //Servo 2
#define s3 6 //Servo 3
#define m11 26 //center DC motor pin IN1
#define m12 29 //center DC motor pin IN2
#define m21 28 //side DC motor1 pin IN1
#define m22 31 //side DC motor1 pin IN2
#define m31 30 //side DC motor2 pin IN3
#define m32 33 //side DC motor2 pin IN4
#define limit1 32 //Limit switch for central DC Motor
#define limit2 34 //Limit switch for side DC Motor
#define limit3 35 //Limit switch for side DC Motor
#define limit4 36 //Limit switch for central DC Motor
#define limit5 37 //Limit switch for side DC Motor
#define limit6 38 //Limit switch for side DC Motor

int position=0;

Servo servo1,servo2,servo3;

void setup() {
  // put your setup code here, to run once:
  pinMode(button, INPUT_PULLUP);
  pinMode(limit1, INPUT_PULLUP);
  pinMode(limit2, INPUT_PULLUP);
  pinMode(limit3, INPUT_PULLUP);
  pinMode(limit4, INPUT_PULLUP);
  pinMode(limit5, INPUT_PULLUP);
  pinMode(limit6, INPUT_PULLUP);
  pinMode(act11, OUTPUT);
  pinMode(act12, OUTPUT);
  pinMode(act21, OUTPUT);
  pinMode(act22, OUTPUT);
  pinMode(m11, OUTPUT);
  pinMode(m12, OUTPUT);
  pinMode(m21, OUTPUT);
  pinMode(m22, OUTPUT);
  pinMode(m31, OUTPUT);
  pinMode(m32, OUTPUT);
  servo1.attach(s1);
  servo2.attach(s2);
  servo3.attach(s3);
  position=EEPROM.read(0);
  if(position==1)
  {
    DOWN();
    position=0;
  }
  else if(position!=0)
  {
    position=0;
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  if(digitalRead(button)==LOW)
  {
    if(position==0)
    {
      UP();
    }
    else if(position==1)
    {
      DOWN();
    }
  }
}

void UP()
{
  ActRetract();
  ServoVer();
  centerDCC();
  ActExtend();
  sideDCD();
  position=1;
  EEPROM.write(0,position);
}

void DOWN()
{
  sideDCD();
  ActRetract();
  ServoVer();
  centerDCC();
  ActExtend();
  ServoHor();
  position=0;
  EEPROM.write(0,position);
}

void ActRetract()
{
  digitalWrite(act11,LOW);
  digitalWrite(act12,HIGH);
  digitalWrite(act21,LOW);
  digitalWrite(act22,HIGH);
  delay(5000);
}

void ActExtend()
{
  digitalWrite(act11,LOW);
  digitalWrite(act12,HIGH);
  digitalWrite(act21,LOW);
  digitalWrite(act22,HIGH);
}

void ServoVer()
{
  servo1.write(90);
  servo2.write(90);
  servo3.write(90);
  delay(2000);
}

void ServoHor()
{
  servo1.write(0);
  servo2.write(0);
  servo3.write(0);
  delay(2000);
}

void centerDCD()
{
  digitalWrite(m11, HIGH);
  digitalWrite(m12,LOW);
  while (digitalRead(limit1)==HIGH);
  digitalWrite(m11, LOW);
  digitalWrite(m12,HIGH);
  delay(1000);
  digitalWrite(m11,LOW);
  digitalWrite(m12,LOW);
  delay(2000);
}

void sideDCD()
{
  digitalWrite(m21, HIGH);
  digitalWrite(m22, LOW);
  digitalWrite(m31, HIGH);
  digitalWrite(m32, LOW);
  int i=0;
  while(1)
  {
    i=0;
    if(digitalRead(limit2)==LOW)
    {
      digitalWrite(m21,LOW);
      digitalWrite(m22,LOW);
      i++;
    }
    if(digitalRead(limit3)==LOW)
    {
      digitalWrite(m31,LOW);
      digitalWrite(m32,LOW);
      i++;
    }
    if(i==2)
    {
      break;
    }
  }
  digitalWrite(m21, LOW);
  digitalWrite(m22, HIGH);
  digitalWrite(m31, LOW);
  digitalWrite(m32, HIGH);
  delay(1000);
  digitalWrite(m21, LOW);
  digitalWrite(m22, LOW);
  digitalWrite(m31, LOW);
  digitalWrite(m32, LOW);
}

void sideDCC()
{
  delay(2000);
  digitalWrite(m21, LOW);
  digitalWrite(m22, HIGH);
  digitalWrite(m31, LOW);
  digitalWrite(m32, HIGH);
  int i=0;
  while(1)
  {
    i=0;
    if(digitalRead(limit5)==LOW)
    {
      digitalWrite(m21,LOW);
      digitalWrite(m22,LOW);
      i++;
    }
    if(digitalRead(limit6)==LOW)
    {
      digitalWrite(m31,LOW);
      digitalWrite(m32,LOW);
      i++;
    }
    if(i==2)
    {
      break;
    }
  }
  digitalWrite(m21, HIGH);
  digitalWrite(m22, LOW);
  digitalWrite(m31, HIGH);
  digitalWrite(m32, LOW);
  delay(1000);
  digitalWrite(m21, LOW);
  digitalWrite(m22, LOW);
  digitalWrite(m31, LOW);
  digitalWrite(m32, LOW);
}

void centerDCC()
{
  digitalWrite(m11, LOW);
  digitalWrite(m12,HIGH);
  while (digitalRead(limit4)==HIGH);
  digitalWrite(m11, HIGH);
  digitalWrite(m12,LOW);
  delay(1000);
  digitalWrite(m11,LOW);
  digitalWrite(m12,LOW);
  delay(2000);
}