#define FRONT_LEFT_MOTOR_PIN 15
#define FRONT_RIGHT_MOTOR_PIN 2
#define REAR_RIGHT_MOTOR_PIN 0
#define REAR_LEFT_MOTOR_PIN 4

#define FRONT_LEFT_BUTTON_PIN 18
#define FRONT_RIGHT_BUTTON_PIN 5
#define REAR_RIGHT_BUTTON_PIN 17
#define REAR_LEFT_BUTTON_PIN 16

#define FRONT_PAIR_BUTTON_PIN 14
#define REAR_PAIR_BUTTON_PIN 27
#define LEFT_PAIR_BUTTON_PIN 26
#define RIGHT_PAIR_BUTTON_PIN 12

#define ROCKER_SWITCH_PIN_A 25
#define ROCKER_SWITCH_PIN_B 33

bool rockerState; // Define rocker switch state variable

void setup() {
  // Initialize motor driver pins as outputs
  pinMode(FRONT_LEFT_MOTOR_PIN, OUTPUT);
  pinMode(FRONT_RIGHT_MOTOR_PIN, OUTPUT);
  pinMode(REAR_RIGHT_MOTOR_PIN, OUTPUT);
  pinMode(REAR_LEFT_MOTOR_PIN, OUTPUT);

  // Initialize push button pins as inputs
  pinMode(FRONT_LEFT_BUTTON_PIN, INPUT_PULLUP);
  pinMode(FRONT_RIGHT_BUTTON_PIN, INPUT_PULLUP);
  pinMode(REAR_RIGHT_BUTTON_PIN, INPUT_PULLUP);
  pinMode(REAR_LEFT_BUTTON_PIN, INPUT_PULLUP);
  
  pinMode(FRONT_PAIR_BUTTON_PIN, INPUT_PULLUP);
  pinMode(REAR_PAIR_BUTTON_PIN, INPUT_PULLUP);
  pinMode(LEFT_PAIR_BUTTON_PIN, INPUT_PULLUP);
  pinMode(RIGHT_PAIR_BUTTON_PIN, INPUT_PULLUP);

  // Initialize rocker switch pins as inputs
  pinMode(ROCKER_SWITCH_PIN_A, INPUT_PULLUP);
  pinMode(ROCKER_SWITCH_PIN_B, INPUT_PULLUP);

  // Initialize Serial communication
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
}

void loop() {
  // Read the state of the rocker switch
  if (digitalRead(ROCKER_SWITCH_PIN_A) == HIGH){
    rockerState = true;
  } else if (digitalRead(ROCKER_SWITCH_PIN_B) == HIGH) {
    rockerState = false;
  }

  // Determine motor direction based on the rocker switch state
  int motorDirection = rockerState ? HIGH : LOW;
  Serial.println(motorDirection);
  if(motorDirection == HIGH){
     Serial.println("I am set to Forward Motion");
  }else if(motorDirection == LOW){
     Serial.println("I am set to Reverse Motion");
   }
  
  // Check if any of the specified pins are pressed
  if (digitalRead(FRONT_LEFT_BUTTON_PIN) == LOW ||
      digitalRead(FRONT_RIGHT_BUTTON_PIN) == LOW ||
      digitalRead(REAR_RIGHT_BUTTON_PIN) == LOW ||
      digitalRead(REAR_LEFT_BUTTON_PIN) == LOW ||
      digitalRead(FRONT_PAIR_BUTTON_PIN) == LOW ||
      digitalRead(REAR_PAIR_BUTTON_PIN) == LOW ||
      digitalRead(LEFT_PAIR_BUTTON_PIN) == LOW ||
      digitalRead(RIGHT_PAIR_BUTTON_PIN) == LOW) 
  { 
    // Read the state of individual buttons and activate corresponding motors
    if (digitalRead(FRONT_LEFT_BUTTON_PIN) == LOW) {
      digitalWrite(FRONT_LEFT_MOTOR_PIN, motorDirection);
      Serial.println("Front Left - Motors 1 is Activated");
    }
    if (digitalRead(FRONT_RIGHT_BUTTON_PIN) == LOW) {
      digitalWrite(FRONT_RIGHT_MOTOR_PIN, motorDirection);
      Serial.println("Front Right - Motors 2 is Activated");
    }
    if (digitalRead(REAR_RIGHT_BUTTON_PIN) == LOW) {
      digitalWrite(REAR_RIGHT_MOTOR_PIN, motorDirection);
      Serial.println("Rear Right - Motors 3 is Activated");
    }
    if (digitalRead(REAR_LEFT_BUTTON_PIN) == LOW) {
      digitalWrite(REAR_LEFT_MOTOR_PIN, motorDirection);
      Serial.println("Rear Left - Motors 4 is Activated");
    }
//////////////////////////////////////////////////////////////////////////////////////
    if (digitalRead(FRONT_PAIR_BUTTON_PIN) == LOW) {
    digitalWrite(FRONT_LEFT_MOTOR_PIN, motorDirection);
    digitalWrite(FRONT_RIGHT_MOTOR_PIN, motorDirection);
    Serial.println("Front Pair Motor 1 & 2");
    }
    if (digitalRead(REAR_PAIR_BUTTON_PIN) == LOW) {
    digitalWrite(REAR_LEFT_MOTOR_PIN, motorDirection);
    digitalWrite(REAR_RIGHT_MOTOR_PIN, motorDirection);
    Serial.println("Rear Pair Motor 3 & 4");
    }
    if (digitalRead(LEFT_PAIR_BUTTON_PIN) == LOW) {
    digitalWrite(FRONT_LEFT_MOTOR_PIN, motorDirection);
    digitalWrite(REAR_LEFT_MOTOR_PIN, motorDirection);
    Serial.println("Left Pair Motor 1 & 4");
    }
    if (digitalRead(RIGHT_PAIR_BUTTON_PIN) == LOW) {
    digitalWrite(FRONT_RIGHT_MOTOR_PIN, motorDirection);
    digitalWrite(REAR_RIGHT_MOTOR_PIN, motorDirection);
    Serial.println("Right Pair Motor 2 & 3");
    }
  }  
    else {
    // If no buttons are pressed, stop all motors
    digitalWrite(FRONT_LEFT_MOTOR_PIN, LOW);
    digitalWrite(FRONT_RIGHT_MOTOR_PIN, LOW);
    digitalWrite(REAR_RIGHT_MOTOR_PIN, LOW);
    digitalWrite(REAR_LEFT_MOTOR_PIN, LOW);
    Serial.println("Motors Stopped");
  }
}