/*
Name Project : Smart Glasses for blind person
Hardware : 
1- Arduino uno
2- breadBoard 
3- Two Leds (Red - Green)
4- Two resistor 
5- Stepper for vibration
6- Button power
7- buzzer speaker 
*/
// defines variables pin for front Sensor
#define echoPinFront 2 // Echo pin sensor 
#define trigPinFront 3 // Triger pin sensor

// define variables pin for left Sensor
#define echoPinLeft 2 // Echo pin sensor 
#define trigPinLeft 5 // Triger pin sensor

// define variables pin for right Sensor
#define echoPinRight 2 // Echo pin sensor 
#define trigPinRight 6 // Triger pin sensor

// stepper pins connected
#define Ap 9  // A+ line
#define Am 11  // A- line
#define Bp 7   //  B+
#define Bm 4   //  B-

// variables Needed 
int buzzerPin = 8; // Buzzer pin

int LedPin = 12; // Led pin contact

int LedPower = 10; // Led Power pin

int Button = 13; // power button

int iCount = 0 ; // Begin from Zero for count Stepper

float rangeOne = 200.00; // this variable number for first range avalue from sensor
float rangeTwo = 100.00; // this variable number for second range avalue from sensor

void setup() {
  Serial.begin(115200); // begin Serial

  // initialize Button and Led Power
  pinMode(Button, INPUT);
  pinMode(LedPower, OUTPUT);
  digitalWrite(Button, LOW);

  // initialize front Sensor mode
  pinMode(trigPinFront, OUTPUT);
  pinMode(echoPinFront, INPUT);

  // initialize left Sensor mode
  pinMode(trigPinLeft, OUTPUT);
  pinMode(echoPinLeft, INPUT);

  // initialize right Sensor mode
  pinMode(trigPinRight, OUTPUT);
  pinMode(echoPinRight, INPUT);

  // set output
  pinMode(Ap,OUTPUT);
  pinMode(Am,OUTPUT);
  pinMode(Bp,OUTPUT);  
  pinMode(Bm,OUTPUT);

  // initialize buzzer mode
  pinMode(buzzerPin, OUTPUT);

  // initialize Led mode
  pinMode(LedPin, OUTPUT);

}

float readDistanceCMFront() { // this function to read a value from front sensor
  digitalWrite(trigPinFront, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPinFront, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPinFront, LOW);
  int duration = pulseIn(echoPinFront, HIGH);
  return duration * 0.034 / 2;
}

float readDistanceCMLeft() { // this function to read a value from left sensor
  digitalWrite(trigPinLeft, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPinLeft, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPinLeft, LOW);
  int duration = pulseIn(echoPinLeft, HIGH);
  return duration * 0.034 / 2;
}

float readDistanceCMRight() { // this function to read a value from right sensor
  digitalWrite(trigPinRight, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPinRight, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPinRight, LOW);
  int duration = pulseIn(echoPinRight, HIGH);
  return duration * 0.034 / 2;
}

void loop() {

 // assign Strings to Output distance on Serial front - left - right
  String frontNumber = String(readDistanceCMFront());
  String distanceStringOne = String("Front : " + frontNumber);

  String leftNumber = String(readDistanceCMLeft());
  String distanceStringTwo = String("Left  : " + leftNumber);

  String rightNumber = String(readDistanceCMRight());
  String distanceStringThree = String("Right : " + rightNumber);

  Serial.println("--------------------");
  Serial.println("Measured distance:");
  Serial.println(distanceStringOne);
  Serial.println(distanceStringTwo);
  Serial.println(distanceStringThree);

  onClickButton();

  checkFrontSensor(rangeOne, rangeTwo);  // call check front sensor function for front sensor
  checkLeftSensor(rangeOne, rangeTwo);  // call check left sensor function for front sensor
  checkRightSensor(rangeOne, rangeTwo);  // call check right sensor function for front sensor
  delay(100);


}

void BlinkLed() {  // this function blink the led in port 12

  digitalWrite(LedPin, HIGH);
  delay(250);
  digitalWrite(LedPin, LOW);
  delay(200);
  digitalWrite(LedPin, HIGH);
  delay(100);
  digitalWrite(LedPin, LOW);
  delay(100);

}

void openLed() { // this function to open led
  digitalWrite(LedPin, HIGH);
}

void onClickButton() {
  if (digitalRead(Button) == LOW) {
    digitalWrite(Button, LOW);
    digitalWrite(LedPower, LOW);
  }
  if (digitalRead(Button) == HIGH) {
    digitalWrite(Button, HIGH);
    digitalWrite(LedPower, HIGH);
    BlinkLed() ; // call the blink led function
  }
}

void checkFrontSensor(float x, float y) { // this function to check if a front Sensor detected from two space

  float distance = readDistanceCMFront();

  if (distance <= x) { // check if distance in the rang 100 CM
    tone(buzzerPin, 260, 300); // Plays sound 260Hz tone for 0.200 seconds
    openLed();
    delay(1000);
    rotateStepper(iCount);
  }

  if (distance <= y) {
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.20 seconds
    delay(200);
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.500 seconds
    openLed(); // call open led fuction
    rotateStepper(iCount);
  }

}

void checkLeftSensor(float x, float y) { // this function to check if a left Sensor detected from two space

  float distance = readDistanceCMLeft();

  
  if (distance <= x) { // check if distance in the rang 100 CM
    tone(buzzerPin, 260, 300); // Plays sound 260Hz tone for 0.200 seconds
    openLed();
    delay(1000);
    rotateStepper(iCount);
  }

  if (distance <= y) {
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.20 seconds
    delay(200);
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.500 seconds
    openLed(); // call open led fuction
    rotateStepper(iCount);
  }

}

void checkRightSensor(float x, float y) { // this function to check if a right Sensor detected from two space

  float distance = readDistanceCMRight();

  
  if (distance <= x) { // check if distance in the rang 100 CM
    tone(buzzerPin, 260, 300); // Plays sound 260Hz tone for 0.200 seconds
    openLed();
    delay(1000);
    rotateStepper(iCount);
  }

  if (distance <= y) {
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.20 seconds
    delay(200);
    tone(buzzerPin, 260, 100); // Plays sound 260Hz tone for 0.500 seconds
    openLed(); // call open led fuction
    rotateStepper(iCount);
  }

}

void rotateStepper(int a) { // this function to rotate a stepper 
  // This is Wave Fullstep motion - only one coil energized at a time
  if ( a++ <200 ) {  // stop after 200*4 steps (=100) - quarter turn with gearRatio "2:1"
    delay(10);
    digitalWrite(Bm,LOW) ;
    digitalWrite(Ap,HIGH);
    delay(10);
    digitalWrite(Ap,LOW) ;  
    digitalWrite(Bp,HIGH);
    delay(10);
    digitalWrite(Bp,LOW) ;  
    digitalWrite(Am,HIGH);
    delay(10);
    digitalWrite(Am,LOW) ;  
    digitalWrite(Bm,HIGH);
  } else while(1);
}