#include <IRremote.h>
#include <Stepper.h> 
#include <Servo.h>
#include <LiquidCrystal.h>

//PHOTORESISTORS
//PR1_AOpin = A1;   // PR 1 & 2 are top & bottom on the panel
//PR2_AOpin = A2;   // PR 3 & 4 are L & R on the panel
//PR3_AOpin = A3;
//PR4_AOpin = A4;

const int PR1_DO = 12; 
const int PR2_DO = 16;
const int PR3_DO = 17;
const int PR4_DO = 18;
 
// BUZZER
const int buzzerPin=21;

// RGB LED
const int redpin = 9;
const int greenpin = 8;
const int bluepin = 13;

//IR receiver (THESE VALUES DEPEND ON REMOTE)
const int RECV_PIN=14; //signal pin 
unsigned long up= 4244832000;
unsigned long down=1738080000;
unsigned long left = 534839040;
unsigned long right = 1871773440;
unsigned long power = 1570963200;
unsigned long stop = 501415680; 

// STEPPER
const int stepsPerRev = 200;  //OUR REAL MOTOR IS 2038 STEPS
Stepper myStepper(stepsPerRev,4,5,6,7); //ORDER OF PIN SETUP DIFF IRL!!
//should be 4657 IRL i think or whatever is in the arduino code file

// SERVO
const int servoPin = 2;
float servoPos = 0;
Servo myServo;

// LCD
const int rs=15, E=19, d4=3, d5=26, d6=24, d7=20; 
LiquidCrystal lcd(rs, E, d4, d5, d6, d7);
// ULTRASONIC SENSOR
const int trigPin = 10;
const int echoPin = 11;
float duration, distance;


// MODE (Automatic or IR Remote)
int mode=0;
//mode 0 = start up
//mode 1 = Auto
//mode 2 = IR remote


void setup() {
  // SERVO
  myServo.attach(servoPin);
  myServo.write(servoPos);   //start as position 0 
  

  // IR REMOTE
  IrReceiver.begin(RECV_PIN); 

  // LED
  pinMode(redpin, OUTPUT);
  pinMode(greenpin, OUTPUT);
  pinMode(bluepin, OUTPUT);

  // Photoresistor
  pinMode(A1, INPUT);  //top
  pinMode(A2, INPUT);  //bottom
  pinMode(A3, INPUT);  //right
  pinMode(A4, INPUT);  //left
  pinMode(PR1_DO, OUTPUT);
  pinMode(PR2_DO, OUTPUT);
  pinMode(PR3_DO, OUTPUT);
  pinMode(PR4_DO, OUTPUT);

  //ULTRASONIC SENSOR
    //trig pin
  pinMode(trigPin, OUTPUT);
    //echo pin
  pinMode(echoPin, INPUT);

  // LCD
  lcd.begin(16,2);


  Serial.begin(9600);
}

void loop() {
  
  delay(10);

  int photoresist1 = analogRead(A1);
  int photoresist2 = analogRead(A2);
  int photoresist3 = analogRead(A3);
  int photoresist4 = analogRead(A4);


  //IR reciever -- reading inputs (Original code)
    if (IrReceiver.decode()){  //0 if no data ready, 1 if data ready
      //Serial.print("Code: ");
      //Serial.println(IrReceiver.decodedIRData.decodedRawData);
      //returns raw decoded value, 32 bits
      IrReceiver.resume(); //ready to recieve next value
    } 


  //****************** CHECKING/CHANGING MODE ********************
  if (IrReceiver.decodedIRData.decodedRawData == power){
    mode = 2; //change mode to remote if power button pressed
    lcd.setCursor(0,0);
    lcd.print("Mode: Remote");
  }
  else if(IrReceiver.decodedIRData.decodedRawData == stop){   //have to press menu button to "escape" remote mode
    mode = 1;  //automatic
    lcd.setCursor(0,0);
    lcd.print("Mode: Auto  ");
  }

  if (mode==0){
    lcd.setCursor(0,0);
    lcd.print("Set a mode");
  }

  //Serial.print("Mode: ");
  //Serial.println(mode);

  //******************* IR REMOTE MODE **************************
  if (mode == 2){
    //--------- U & D --> STEPPER (ontop of base plate, attatched to solar panel)
    if (IrReceiver.decodedIRData.decodedRawData == up){
      myStepper.setSpeed(30);
      myStepper.step(50); 
      Serial.println("right");
    }
    if (IrReceiver.decodedIRData.decodedRawData == down){
      myStepper.setSpeed(30);
      myStepper.step(-50); 
      Serial.println("left");
    }
    // -------- L & R --> SERVO (on bottom of base plate)
    if (IrReceiver.decodedIRData.decodedRawData == right){
      if (servoPos<180){
             myServo.write(servoPos);
             servoPos+=5;
             delay(5);
      }
   }

    if (IrReceiver.decodedIRData.decodedRawData == left){
     if (servoPos>0){
             myServo.write(servoPos);
             servoPos-=5;
             delay(5);
      }
    }
  }
  

//***************** AUTO MODE *********************
  else if (mode==1){
    Serial.println("auto mode");
    if (abs(photoresist1 - photoresist2) > 20){ 
      Serial.println("stepper");
      if (photoresist1 < photoresist2){ //PR1 has more light so move towards it
    // 1 & 2 controlled by STEPPER up & down
      myStepper.setSpeed(30);    //move whichever direction pr1 is
      myStepper.step(-50); 
      delay(15);
      }

      else if(photoresist2 < photoresist1){  //move towards PR2
      myStepper.setSpeed(30);    //move whichever direction pr2 is
      myStepper.step(50); 
      delay(15);
      }
    }

    if (abs(photoresist3 - photoresist4) > 20){
      if (photoresist4 < photoresist3){ // PR3 has more light so move towards it
    // 3 & 4 controlled by SERVO l & r
      if (servoPos<180){  //right
             servoPos+=5;
             myServo.write(servoPos);
             delay(15);
             }
           }
     else if(photoresist3 < photoresist4) {
      if (servoPos>0){  //left
            servoPos-=5;
             myServo.write(servoPos);
             delay(15);
             }
            }
      }
    }
  

//**************** RGB LED *************************
  if (photoresist1 < 169){  //perf - fully green
   setColor(0,255,0);
  }
  else if (photoresist1 > 511){  // poor - fully red
   setColor(255,0,0);
  } 
  else{                   // med - yellow
    setColor(255,255,0);
  }


//************* ULTRASONIC SENSOR ********************
//trig pin starts on low for 2 us
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  //then we set it to high for 10 us, so that it will then send a burst
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  //now we are awaiting a pulse back, so we can read the duration
  duration = pulseIn(echoPin, HIGH); //reads how long echo is high aka how long until the pulse returns
  
  //vsound = 0.034cm/μs
  //calculate distance
  float v = 0.034;
  distance = (duration * v)/2; //distance is in CM!!!

  if (distance < 10){  //something comes 10 cm near the solar panel
    digitalWrite(buzzerPin, HIGH); //play sound for 2s, then shut off
    lcd.setCursor(13,1);
    lcd.print("****");
    delay(3000);
    lcd.setCursor(13,1);
    lcd.print("   ");
    digitalWrite(buzzerPin, LOW);
    //Serial.println("******obstruction*******");
 }

    lcd.setCursor(0,1);
    lcd.print("Voltage:");
    float voltage = (photoresist1*5.0)/1024;
    lcd.setCursor(8,1);
    lcd.print(voltage);


  delay(100);
}


//************* RGB LED Function to Set a Color ***********
//analogWrite can be 0 to 225 (0=low, 225 = high)
//a function to set the analog value of the PWM pins so we get a diff color
void setColor(int redval, int greenval, int blueval){
  analogWrite(redpin, redval);
  analogWrite(greenpin, greenval);
  analogWrite(bluepin, blueval);
}