// Information header
// Developer    : Victor Hugo Ramírez Pantle
// ID number    : A01736775
// Date         : Aug / 27 / 2024
// Project name : "Lectura de sensores digitales y toma de decisiones"

// Add all required constant definitions

#define M1_ACC 11
#define M1_FWD 33
#define M2_ACC 12
#define M2_FWD 35
#define M3_ACC 7
#define M3_FWD 41
#define M4_ACC 8
#define M4_FWD 37

#define SImpL A11
#define SImpR A12

// Add all required variable definitions

boolean SImpLstate = true;
boolean SImpRstate = true;

void setup() {

pinMode(M1_ACC,OUTPUT);
pinMode(M2_ACC,OUTPUT);
pinMode(M1_FWD,OUTPUT);
pinMode(M2_FWD,OUTPUT);
pinMode(M3_ACC,OUTPUT);
pinMode(M4_ACC,OUTPUT);
pinMode(M3_FWD,OUTPUT);
pinMode(M4_FWD,OUTPUT);

pinMode(SImpL, INPUT);
pinMode(SImpR, INPUT);

digitalWrite (M1_ACC,LOW);
digitalWrite (M2_ACC,LOW);
digitalWrite (M3_ACC,LOW);
digitalWrite (M4_ACC,LOW);
digitalWrite (M1_FWD,LOW);
digitalWrite (M2_FWD,LOW);
digitalWrite (M3_FWD,LOW);
digitalWrite (M4_FWD,LOW);

Serial.begin(9600);
}

void loop() {

  SImpLstate = digitalRead(SImpL);
  SImpRstate = digitalRead(SImpR);

  Serial.print("Left Sensor: ");
  Serial.print(SImpLstate);
  Serial.print("  //  ");
  Serial.print("Right Sensor: ");
  Serial.println(SImpRstate);

  if (!SImpLstate){ // si izq esta presionado
    analogWrite (M3_ACC,64);
    analogWrite (M4_ACC,64);
    digitalWrite (M3_FWD,HIGH);
    digitalWrite (M4_FWD,HIGH);
    delay(10);
  } else {
    digitalWrite (M3_ACC,LOW);
    digitalWrite (M4_ACC,LOW);
    digitalWrite (M3_FWD,LOW);
    digitalWrite (M4_FWD,LOW);
  }

  if (!SImpRstate){ // si der esta presionado
    analogWrite (M1_ACC,64);
    analogWrite (M2_ACC,64);
    digitalWrite (M1_FWD,HIGH);
    digitalWrite (M2_FWD,HIGH);
    delay(10);
  } else {
    digitalWrite (M1_ACC,LOW);
    digitalWrite (M2_ACC,LOW);
    digitalWrite (M1_FWD,LOW);
    digitalWrite (M2_FWD,LOW);
  }
}