// https://forum.arduino.cc/t/firefighting-car-direction-from-flame-sensor/1301885/

// Setting Motor A
int enable1Pin = 14;
int motor1Pin1 = 27;
int motor1Pin2 = 26;

//Settin Motor B
int enable2Pin = 32;
int motor2Pin3 = 25;
int motor2Pin4 = 33;

// define pins for flame sensor
//#define FlamePinForawrd 17
#define FlamePinForawrdAnlog 4
#define FlamePinRight 15
//#define FlamePinLeft

// define pins for gas sensor
#define GasSensorDi 17

// pin 13 that connects to the relay to control the pump
#define RELAY_PIN   12

//pins for siren led and buzzer
//siren
#define LedBlue 2
#define LedRed 21
#define Buzzer 19

//vars for falme sensor read
int FlameCheckForawrdAnalog;
int FlameCheckRight;

//vars for gas sensor read
int GasSensorD;
int three60forward = 0;//var for 360 turn


//time vars for front sensor trigger and movement forward
const unsigned long eventCarMovementInterval = 200;
unsigned long previouseventCarMovement = 0;
//time vars for front sensor trigger and movment left and right
const unsigned long eventCarSideMovementInterval = 200;
unsigned long previouseventCarSideMovement = 0;
//time vars for siren
const unsigned long eventSirenInterval = 500;
unsigned long previousEventSiren = 0;
//time vars for water pump
const unsigned long eventPumpInterval = 500;
unsigned long previousEventPump = 0;
//var for movement forward on the gas condition
const unsigned long eventCarMovementGasInterval = 2500;
unsigned long previouseventGasCarMovement = 0;

void setup() {
  //modding motor A
  pinMode(enable1Pin, OUTPUT);
  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);

  //modding Motor B
  pinMode(enable2Pin, OUTPUT);
  pinMode(motor2Pin3, OUTPUT);
  pinMode(motor2Pin4, OUTPUT);

  //setting flame sensor as input
  //pinMode(FlamePinForawrd, INPUT);
  pinMode(FlamePinForawrdAnlog, INPUT);
  pinMode(FlamePinRight, INPUT);
  //pinMode(FlamePinLeft, INPUT);

  //setting gas sensor as input
  pinMode(GasSensorDi, INPUT);

  //setting siren for right
  pinMode(LedBlue, OUTPUT);  //defined port for right leds
  pinMode(LedRed, OUTPUT);
  pinMode(Buzzer, OUTPUT); // port front buzzer

  // initaite serial monitor
  Serial.begin(9600);
}

void loop() {
  unsigned long currentTime = millis();
  //vars for storing flame sensor vlaues
  FlameCheckForawrdAnalog = analogRead(FlamePinForawrdAnlog);
  FlameCheckRight = digitalRead(FlamePinRight);
  Serial.println(FlameCheckForawrdAnalog);
  //vars for storing gas sensor vlaues
  GasSensorD = digitalRead(GasSensorDi);

  ///sensorTest();

  if ((FlameCheckForawrdAnalog < 4090) && (FlameCheckForawrdAnalog > 3500))
  {
    if (currentTime -  previouseventCarMovement >= eventCarMovementInterval) {
      Serial.print("flame ahead ");
      //FlameCheckForawrdAnalog = analogRead(FlamePinForawrdAnlog);
      Serial.println(FlameCheckForawrdAnalog);
      CAR_moveForwardWifi();


      previouseventCarMovement = currentTime;
    }
    if (currentTime -  previousEventSiren >= eventSirenInterval) {
      //  siren on
      Serial.println("sirens on ");
      // sirenOn(LedBlue, LedRed, Buzzer);

      previousEventSiren = currentTime;
    }
  }

  if (FlameCheckForawrdAnalog < 2500 ) { //turn pump while in front sensor triggred
    if (currentTime -  previousEventPump >= eventPumpInterval ) {
      Serial.print("pump on ");
      digitalWrite(RELAY_PIN, HIGH);

      previousEventSiren = currentTime;
    }
  }
  else if (FlameCheckRight == LOW && !FlameCheckForawrdAnalog < 4000 )
  {
    if (currentTime -  previouseventCarSideMovement >= eventCarSideMovementInterval) {
      Serial.print("flame right ");
      Serial.print("turning right ");
      CAR_turnRightWifi();
      Serial.print("siren on ");
      // sirenOn(LedBlue,LedRed, Buzzer);

      previouseventCarSideMovement = currentTime;
    }
  }

  //else if (FlameCheckLeft == LOW)
  //{
  //Serial.print("flame dected on the left");
  //while(FlameCheckForawrd != LOW)
  //{
  //FlameCheckForawrd = digitalRead(FlamePinForawrd);
  //Serial.print("turning left");
  //CAR_turnLeftWifi();
  //delay(200);
  //}
  //}

  else if (GasSensorD == LOW && !FlameCheckForawrdAnalog < 4000) {
    if (currentTime -  previousEventSiren >= eventSirenInterval) {
      //  siren on
      Serial.print("sirens on ");
      // sirenOn(LedBlue, LedRed, Buzzer);

      previousEventSiren = currentTime;
    }
    if (three60forward < 20) {
      Serial.print("gas detected turn right ");
      Serial.print(three60forward);
      CAR_turnRightWifi();
      three60forward++;
    }
    else {
      { Serial.print("(move forawrd) ");
        CAR_moveForwardWifi();
        delay(1000);
      }
      three60forward = 0;
    }
  }

  else
  { Serial.print("pump off ");
    digitalWrite(RELAY_PIN, LOW);
    Serial.print("sirens off ");
    sirenoff(LedBlue, LedRed, Buzzer);
    StopCar();
  }
  delay(250);
}

// stop car
void StopCar() {
  Serial.print("StopCar ");
  analogWrite(enable1Pin, 0);
  analogWrite(enable2Pin, 0);

  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, LOW);
  digitalWrite(motor2Pin3, LOW);
  digitalWrite(motor2Pin4, LOW);
}

void CAR_moveForwardWifi() {
  //Set speed motor A and B
  analogWrite(enable1Pin, 186);
  analogWrite(enable2Pin, 200);
  //move forawrd
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, HIGH);
  digitalWrite(motor2Pin3, HIGH);
  digitalWrite(motor2Pin4, LOW);
}

void CAR_moveBackwardWifi() {
  //setting speed motor A and B
  analogWrite(enable1Pin, 190);
  analogWrite(enable2Pin, 200);
  //back movement
  digitalWrite(motor1Pin1, HIGH);
  digitalWrite(motor1Pin2, LOW);
  digitalWrite(motor2Pin3, LOW);
  digitalWrite(motor2Pin4, HIGH);
}

void CAR_turnLeftWifi() {
  //Set speed motor A and B
  analogWrite(enable1Pin, 255);
  analogWrite(enable2Pin, 0);
  //turn left
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, HIGH);
  digitalWrite(motor2Pin3, LOW);
  digitalWrite(motor2Pin4, LOW);
}

void CAR_turnRightWifi() {
  //Set speed motor A and B
  analogWrite(enable1Pin, 255);
  analogWrite(enable2Pin, 255);
  //turn right
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, LOW);
  digitalWrite(motor2Pin3, HIGH);
  digitalWrite(motor2Pin4, LOW);
}

void sensorTest() {
  while (1) {
    for (int i = 0; i < 3; i++) {
      Serial.print(digitalRead(i + 15)); // read "flame" sensors
    }
    Serial.println(); // print the sensor state
    delay(250);
  }
}

//functions for siren
void sirenOn(int Led1Pin, int Led2Pin, int BuzzerPin)
{
  int i;
  for (int i = 700; i < 800; i++) // duration of the first sound 350 2 millisecond cycles.
  {
    // tone(BuzzerPin, i);
    // delay(15);
    digitalWrite(Led1Pin, HIGH); // turn on the leds
    digitalWrite(Led2Pin, LOW);
    delay(30);
    digitalWrite(Led1Pin, LOW); // blinking leds
    digitalWrite(Led2Pin, HIGH);
    delay(30);
    delay(15); // wait 1 millisecond and restart from the for statement (100 repetitions)
  }

  for (i = 800; i > 700; i--) {
    // tone(BuzzerPin, i);
    // delay(15);
    digitalWrite(Led1Pin, HIGH); // turn on the leds
    digitalWrite(Led2Pin, LOW);
    delay(30);
    digitalWrite(Led1Pin, LOW); // blinking leds
    digitalWrite(Led2Pin, HIGH);
    delay(30);
    delay(15); // wait 1 millisecond and restart from the for statement (100 repetitions)
  }
}

void sirenoff(int Led1Pin, int Led2Pin, int BuzzerPin)
{
  digitalWrite(Led1Pin, LOW); // turn off blinking leds
  digitalWrite(Led2Pin, LOW);

  tone(BuzzerPin, 0); // turn off buzzer
}