/*
  Arduino | general-help
  CryCry — 7/1/24 at 2:44 PM
  well i used an l298n motor driver and the error is
  only one wheel is moving

  TODO: add speed control
*/

#include <IRremote.hpp>

enum robotStates {
  FWD,    // 0, forward
  LEFT,   // 1, turn left
  RIGHT,  // 2, turn right
  REV,    // 3, reverse
  STOP    // 4, stop
};

// command codes (in wokwi, your codes may be different)
const int CMD_FWD =     2;  // +
const int CMD_LEFT =  224;  // <<
const int CMD_RIGHT = 144;  // >>
const int CMD_REV =   152;  // -
const int CMD_STOP =  168;  // "Play"
// pin constants
const int IR_RECEIVE_PIN = 10;
// control pins, ENA, IN1, IN2, ENB, IN3, IN4
const int CONTROL_PINS[6] = {9, 8, 7, 3, 6, 5};
// state constants
const int STATE_PINS[5][6] = {
  //ENA, IN1, IN2, ENB, IN3, IN4
  {HIGH, HIGH, LOW, HIGH, HIGH, LOW},   //Fwd
  {HIGH, LOW, HIGH, HIGH, HIGH, LOW},   //Left
  {HIGH, HIGH, LOW, HIGH, LOW, HIGH},   //Right
  {HIGH, LOW, HIGH, HIGH, LOW, HIGH},   //Rev
  {LOW, LOW, LOW, LOW, LOW, LOW}        //"Stop" - Motor off
  // {HIGH, LOW, LOW, HIGH, LOW, LOW}   //"Break" - Motor braked
};

void getCommand() {
  if (IrReceiver.decode()) {
    int rxValue = IrReceiver.decodedIRData.command;
    Serial.print("Recieved code: ");
    Serial.print(rxValue);
    switch (rxValue) {
      case CMD_FWD:
        Serial.println("\tForward");
        moveRobot(FWD);
        break;
      case CMD_LEFT:
        Serial.println("\tLeft");
        moveRobot(LEFT);
        break;
      case CMD_RIGHT:
        Serial.println("\tRight");
        moveRobot(RIGHT);
        break;
      case CMD_REV:
        Serial.println("\tReverse");
        moveRobot(REV);
        break;
      case CMD_STOP:
        Serial.println("\tStop");
        moveRobot(STOP);
        break;
      default:
        Serial.println("\tUndefined");
        moveRobot(STOP);
        break;
    }
    IrReceiver.resume();
  }
}

void moveRobot(int state)  {
  for (int index = 0; index < 6; index++)  {
    digitalWrite(CONTROL_PINS[index], STATE_PINS[state][index]);
  }
}

void setup() {
  Serial.begin(9600);
  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK);
  for (int controlPin = 0; controlPin < 6; controlPin++)  {
    pinMode(CONTROL_PINS[controlPin], OUTPUT);
  }
  moveRobot(STOP);
  Serial.println("Initialized to Stop");
}

void loop() {
  getCommand();
}