/**
   fuzzy_controller.ino
 **/

// eFLL includes
#include <Fuzzy.h>
#include <FuzzyComposition.h>
#include <FuzzyInput.h>
#include <FuzzyIO.h>
#include <FuzzyOutput.h>
#include <FuzzyRule.h>
#include <FuzzyRuleAntecedent.h>
#include <FuzzyRuleConsequent.h>
#include <FuzzySet.h>

// pins
#define LDR A0
#define TRIGGER 4
#define ECHO 5
#define LED 6

// object library
Fuzzy *fuzzy = new Fuzzy();

void setup() {
  // set console and pins
  Serial.begin(9600);
  pinMode(LDR, INPUT);
  pinMode(TRIGGER, OUTPUT);
  pinMode(ECHO, INPUT);
  pinMode(LED, OUTPUT);

  // fuzzy sets
  // Input1 temp
  FuzzySet *cool = new FuzzySet(0, 0, 15, 25); //trapizoid MF (a,b,c,d)
  FuzzySet *midt = new FuzzySet(15, 25, 25, 32);
  FuzzySet *hot = new FuzzySet(25, 32, 50, 50);

  // Input2 pop
  FuzzySet *low = new FuzzySet(0, 0, 15, 25);
  FuzzySet *mid= new FuzzySet(15, 25, 25, 35);
  FuzzySet *high= new FuzzySet(25, 35, 50, 50);

  // output air comp
  FuzzySet *off = new FuzzySet(0, 0, 0, 0);
  FuzzySet *lowb = new FuzzySet(0, 0, 25, 40);
  FuzzySet *midb = new FuzzySet(25, 40, 60, 70);
  FuzzySet *highb = new FuzzySet(60, 75, 100, 100);

  // variables
  // add input1 to fuzzy Input1
  FuzzyInput *distance = new FuzzyInput(1);
  temp->addFuzzySet(cool);
  temp->addFuzzySet(midt);
  temp->addFuzzySet(hot);
  fuzzy->addFuzzyInput(temp)

  // add input2 to fuzzy Input2
  FuzzyInput *ldr = new FuzzyInput(2);
  pop->addFuzzySet(low);
  pop->addFuzzySet(mid);
  pop->addFuzzySet(high);
  fuzzy->addFuzzyInput(pop)

  // add output to fuzzy output
  FuzzyOutput *brightness = new FuzzyOutput(1);
  airCom->addFuzzySet(off);
  airCom->addFuzzySet(lowb);
  airCom->addFuzzySet(midb);
  airCom->addFuzzySet(highb);
  fuzzy->addFuzzyOutput(airCom);

  // Rules 1
  // if distance is coll and pop is low then low is low
  FuzzyRuleConsequent *thenAirComMidb = new FuzzyRuleConsequent();
  thenAirComMidb->addOutput(midb); ////for Potentiometer lowb , for actual ldr => high
  FuzzyRule *fuzzyRule1 = new FuzzyRule(1, if tempIscoolAndpopIsLow, then airComoff);
  fuzzy->addFuzzyRule(fuzzyRule1);

    //Rules2
    // if distance is cool  and pop is midt then airCom is midt
     FuzzyRuleAntecedent *ifTempIsCoolAndPopIsmidt = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIsmidt->joinWithAND(cool, midt); //for Potentiometer highldr , for actual ldr => lowldr
  FuzzyRuleConsequent *thenAirCommid = new FuzzyRuleConsequent();
  thenAirCommidt->addOutput(midt); ////for Potentiometer lowb , for actual ldr => highb
  FuzzyRule *fuzzyRule2= new FuzzyRule(2,  ifTempIsCoolAndPopIsmidt, thenAirCommidt);
  fuzzy->addFuzzyRule(fuzzyRule2);

  //Rules3
  // If temp is cool and pop is high then aircom is high 
    FuzzyRuleAntecedent *ifTempIsCoolAndPopIshigh = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIshigh->joinWithAND(cool, high); //for Potentiometer highldr , for actual ldr => lowldr
  FuzzyRuleConsequent *thenAirComhigh = new FuzzyRuleConsequent();
  thenAirComhigh->addOutput(high); ////for Potentiometer lowb , for actual ldr => highb
  FuzzyRule *fuzzyRule3 = new FuzzyRule(3,  ifTempIsCoolAndPopIshigh, thenAirComhigh);
  fuzzy->addFuzzyRule(fuzzyRule3);

  // Rules 4
 // if temp is mid and pop is low then airCom is low
  FuzzyRuleAntecedent *ifTempIsCoolAndPopIslow = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIslow->joinWithAND(mid,low); //for Potentiometer highldr , for actual ldr => lowldr
  FuzzyRuleConsequent *thenAirComlow = new FuzzyRuleConsequent();
  thenAirComlow->addOutput(low); ////for Potentiometer lowb , for actual ldr => highb
  FuzzyRule *fuzzyRule4 = new FuzzyRule(4,  ifTempIsCoolAndPopIslow, thenAirComlow);
  fuzzy->addFuzzyRule(fuzzyRule4);

  // Rules 5
  // if temp is midt and pop is mid then airCom is mid
  FuzzyRuleAntecedent *ifTempIsCoolAndPopIsMidldr = new FuzzyRuleAntecedent();
  ifTempIsCoolAndPopIsMid->joinWithAND(midt,mid); //for Potentiometer highldr , for actual ldr => lowldr
  FuzzyRule *fuzzyRule5 = new FuzzyRule(5,  ifTempIsCoolAndPopIsMid, thenAirComMid);
  fuzzy->addFuzzyRule(fuzzyRule5);
}
// returns the distance
int distance() {
  digitalWrite(TRIGGER, LOW);
  delayMicroseconds(5);
  digitalWrite(TRIGGER, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER, LOW);
  long pulse = pulseIn(ECHO, HIGH) / 2;
  return pulse * 10 / 292;
}

// returns the brightness
int brightness() {
  return analogRead(LDR);
}
/*
  // prints in serial monitor
  void print(int dist, int light, int output) {
  Serial.print("distance: ");
  Serial.print(dist);
  Serial.print(" light: ");
  Serial.print(light);
  Serial.print(" => output: ");
  Serial.print(output);
  Serial.println();
  }
*/
// main method
void loop() {
  // get distance and light
  int dist = distance();
  int light = brightness();

  // if the inputs are weird, ignore them Miximum value
  if (dist < 0 || dist > 400 || light > 1023) return;

  // fuzzyfication
  fuzzy->setInput(1, dist); // dist as fuzzy input 1 (distance)
  fuzzy->setInput(2, light); // light as fuzzy input 2 (ldr)
  fuzzy->fuzzify();

  // defuzzyfication
  int output = fuzzy->defuzzify(1); // defuzzify fuzzy output 1 (brightness)

  analogWrite(LED, output);
  //void print(int dist, int light, int output) {
  Serial.print("distance: ");
  Serial.print(dist);
  Serial.print(" light: ");
  Serial.print(light);
  Serial.print(" => output: ");
  Serial.print(output);
  Serial.println();
  delay(100);

}