const int fwdIn = A2;
const int bwdIn = A3;

const int fwdOut = 2;
const int bwdOut = 3;

unsigned long fwdONStartMillis = 0;
unsigned long fwdOFFMillis = 0;

unsigned long bwdONStartMillis = 0;
unsigned long bwdOFFMillis = 0;

const int shortON = 1000;
const int longON = 3000;
const int odskokVypnutiSHORT = 1000;
const int odskokVypnutiLONG = 3000;
const int threshold = 550;   // hodnota pro threshold analogových vstupů

bool fwdWasON = false;
bool fwdOffDelayActive = false;

bool bwdWasON = false;
bool bwdOffDelayActive = false;

int currentOdskokVypnuti = 0;

void setup() {
  pinMode(fwdIn, INPUT);
  pinMode(bwdIn, INPUT);

  pinMode(fwdOut, OUTPUT);
  pinMode(bwdOut, OUTPUT);
}

void loop() {
  unsigned long currentMillis = millis();

  // čtení stavu vstupů do MCU
  int fwdInVal = analogRead(fwdIn);
  int bwdInVal = analogRead(bwdIn);

  if (fwdInVal > threshold) {
    if (!fwdWasON) {
      fwdONStartMillis = currentMillis;
    }
    fwdWasON = true;
    fwdOffDelayActive = false;
    digitalWrite(fwdOut, HIGH);
  }

  if (fwdWasON && fwdInVal < threshold && !fwdOffDelayActive) {
    fwdOFFMillis = currentMillis;
    fwdOffDelayActive = true;

    unsigned long fwdONDuration = currentMillis - fwdONStartMillis;
    if (fwdONDuration <= shortON) {
      currentOdskokVypnuti = odskokVypnutiSHORT;
    } else {
      currentOdskokVypnuti = odskokVypnutiLONG; 
    }
  }

  if (fwdOffDelayActive && (currentMillis - fwdOFFMillis >= currentOdskokVypnuti)) {
    fwdWasON = false;
    fwdOffDelayActive = false;
    digitalWrite(fwdOut, LOW);
  }

  // ----------
  if (bwdInVal > threshold) {
    if (!bwdWasON) {
      bwdONStartMillis = currentMillis;
    }
    bwdWasON = true;
    bwdOffDelayActive = false;
    digitalWrite(bwdOut, HIGH);
  }

  if (bwdWasON && bwdInVal < threshold && !bwdOffDelayActive) {
    bwdOFFMillis = currentMillis;
    bwdOffDelayActive = true;

    unsigned long bwdONDuration = currentMillis - bwdONStartMillis;
    if (bwdONDuration <= shortON) {
      currentOdskokVypnuti = odskokVypnutiSHORT;
    } else {
      currentOdskokVypnuti = odskokVypnutiLONG; 
    }
  }

  if (bwdOffDelayActive && (currentMillis - bwdOFFMillis >= currentOdskokVypnuti)) {
    bwdWasON = false;
    bwdOffDelayActive = false;
    digitalWrite(bwdOut, LOW);
  }

}