/* This is a online simulation based prototype of an Autonomous - Obstacle Avoidance Robot with Telematics data 
   with app based monitoring of Humidity and Temperature */
   
#define  BLYNK_TEMPLATE_ID "TMPL3q3ZizQM3"
#define  BLYNK_TEMPLATE_NAME "Harshal"
#define  BLYNK_AUTH_TOKEN "fwur0EqeiQalplB2sqlaWxAKO-cNlUrH"

#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>

#define BLYNK_PRINT Serial

char auth[] = "fwur0EqeiQalplB2sqlaWxAKO-cNlUrH";

char ssid[] = "Wokwi-GUEST";
char pass[] = "";
#include <DHT.h>
int dirPin[] = {5, 12, 18, 33};
int stepPin[] = {4, 13, 19, 32}; 
 
#define pin_trig1 22
#define pin_echo1 23
#define pin_echo2 27
#define pin_trig2 26
#define DHTPIN 21
#define DHTTYPE DHT22
DHT dht(DHTPIN, DHTTYPE);
int distance1; // Front distance
int duration1;
int distance2; // Back distance
int duration2; 
int stepPerRevolution = 200; 



void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);  
  // DHT22  
  Serial.println(F("DHTxx test!")); 
  dht.begin();
  // Ultrasonic sensor         
  pinMode(pin_trig1, OUTPUT);
  pinMode(pin_echo1, INPUT);
  pinMode(pin_echo2, INPUT);
  pinMode(pin_trig2, OUTPUT);
  for (int i = 0; i < 4; i++)
  {
  pinMode(stepPin[i], OUTPUT);
  pinMode(dirPin[i], OUTPUT);
  }
  Blynk.begin(auth, ssid, pass);
}

void loop() 
{
   Blynk.run();
// Front ultrasonic sensor
  digitalWrite(pin_trig1, LOW); 
  delayMicroseconds(2);
  digitalWrite(pin_trig1, HIGH);
  delayMicroseconds(10);
  digitalWrite(pin_trig1, LOW);
  duration1 = pulseIn(pin_echo1, HIGH);
  distance1 = duration1 *0.034/2;
  Serial.print("FRONT-DISTANCE = ");
  Serial.print(distance1);
  
  delay(10); // this speeds up the simulation

// Second ultrasonic sensor 
  digitalWrite(pin_trig2, LOW); 
  delayMicroseconds(2);
  digitalWrite(pin_trig2, HIGH);
  delayMicroseconds(10);
  digitalWrite(pin_trig2, LOW);
  duration2 = pulseIn(pin_echo2, HIGH);
  distance2 = duration2 *0.034/2;
  Serial.print(" BACK-DISTANCE = ");
  Serial.println(distance2);

  delay(100); 

  // DHT22 temperature and humidity reading 
  float humidity = dht.readHumidity();
  float temperature = dht.readTemperature();
  Serial.print(F("Humidity: "));
  Serial.print(humidity);
  Serial.print(F("%  Temperature: "));
  Serial.print(temperature);
  Serial.println(F("°C "));

  delay(2000);

// if in front the distance of ultrasonic sensor and obstacle is less than 20cm
  if (distance1 <= 5 )
  {
    for (int  i = 1; i < 4; i += 2) // upside motors
     {
      digitalWrite(dirPin[i], LOW);
     }
    for (int  i = 1; i < 4; i += 2)
    {
     digitalWrite(stepPin[i], HIGH); 
    } 
    delayMicroseconds(1000);
    for (int i = 1; i < 4; i += 2)
    {
      digitalWrite(stepPin[i], LOW);
    }
    delayMicroseconds(1000);
    for (int i = 0; i < 4; i += 2) // downside motors
    {
      digitalWrite(dirPin[i], HIGH);
    }
    for (int i = 0; i < 4; i += 2 )
    {
      digitalWrite(stepPin[i], HIGH);
    }
    delayMicroseconds(1000);
    for (int i = 0; i < 4; i += 2 )
    {
      digitalWrite(stepPin[i], LOW);
    }
    delayMicroseconds(1000);
    /*if (distance1 <= 20)
    {
      for (int  i = 1; i < 4; i += 2)
      {
      digitalWrite(stepPin[i], LOW);
      }
      for (int i = 0; i < 4; i += 2) // downside motors
      {
      digitalWrite(stepPin[i], LOW);
      }
    }*/
  }
  // if the front distance between ultrasonic sensor and obstacle is greater than 20 cm 
  else {
   for (int  i = 1; i < 4; i += 2) // upwardside motors
     {
      digitalWrite(dirPin[i], HIGH);
     }
    for (int  i = 1; i < 4; i += 2)
    {
   digitalWrite(stepPin[i], HIGH); 
    } 
    delayMicroseconds(1000);
    for (int i = 1; i < 4; i += 2)
    {
      digitalWrite(stepPin[i], LOW);
    }
    delayMicroseconds(1000);
    for (int i = 0; i < 4; i += 2 ) // downside motors
    {
      digitalWrite(dirPin[i], LOW);
    }
    for (int i = 0; i < 4; i += 2 )
    {
      digitalWrite(stepPin[i], HIGH);
    }
    delayMicroseconds(1000);
    for (int i = 0; i < 4; i += 2 )
    {
      digitalWrite(stepPin[i], LOW);
    }
    delayMicroseconds(1000);
  }

  int t = dht.readTemperature(); 
  Blynk.virtualWrite(V0, t); // Send data to Virtual Pin V0
  delay(1000);
  int h = dht.readHumidity(); // Read from GPIO
  Blynk.virtualWrite(V1, h); // Send data to Virtual Pin V1
  delay(1000); // Update every second
  
}