int JoyStick_X = A1; //x
const int relay1Pin = 7; // Pin for relay to control right direction
const int relay2Pin = 8; // Pin for relay to control left direction
const int stopRunButtonPin = 2; // Pin for the stop run button
const int stopReverseButtonPin = 3; // Pin for the stop reverse button
const int middleX = 520; // the center value of the joystickX

int JoyStick_Y = A2; //y
const int relay3Pin = 9; // Pin for relay to control right direction
const int relay4Pin = 10; // Pin for relay to control left direction
const int stopRunButton2Pin = 4; // Pin for the stop run button
const int stopReverseButton2Pin = 5; // Pin for the stop reverse button
const int middleY = 520; // the center value of the joystickY

int startButtonPin = 6; // Pin for the activation button

unsigned long times[] = {1000, 2000, 3000, 4000, 5000}; // Array of times in milliseconds
int numTimes = sizeof(times) / sizeof(times[0]);

unsigned long times2[] = {1000, 2000, 3000, 4000, 5000}; // Array of times in milliseconds
int numTimes2 = sizeof(times2) / sizeof(times2[0]);

unsigned long previousMillis = 0;
unsigned long previousMillis2 = 0;

unsigned long interval = 0;
unsigned long interval2 = 0;

bool motorRunning = false;
bool motorRunning2 = false;

int currentDirection = 0;
int currentDirection2 = 0;

//int previousDirection = 0;

unsigned long lastButtonPressTime = 0;  

  
// 定义按钮去抖时间（毫秒）  
const unsigned long debounceDelay = 50;  


bool flag=0;// if have motor down
int motordown=0;// motordown=0 motordown=1 motordown=2  

bool flag2=0;// if have motor2 down
int motor2down=0;// motor2down=0 motor2down=1 motor2down=2 
//*********************************************************************************

int motorStart = 0; // pushball starting state

const int buttonA = 11; // start button
const int buttonB = 12; // stop button
const int buttonC = 13; // internal button C
const int relayPin1 = 22 ; // forward
const int relayPin2 = 23 ; // backward

void setup() {
  pinMode(JoyStick_X, INPUT_PULLUP);
  pinMode(relay1Pin, OUTPUT);
  pinMode(relay2Pin, OUTPUT);
  pinMode(stopRunButtonPin, INPUT_PULLUP); // Use internal pull-up resistor
  pinMode(stopReverseButtonPin, INPUT_PULLUP); // Use internal pull-up resistor

  pinMode(JoyStick_Y, INPUT_PULLUP);
  pinMode(relay3Pin, OUTPUT);
  pinMode(relay4Pin, OUTPUT);
  pinMode(stopRunButton2Pin, INPUT_PULLUP); // Use internal pull-up resistor
  pinMode(stopReverseButton2Pin, INPUT_PULLUP); // Use internal pull-up resistor
  
  pinMode(startButtonPin, INPUT_PULLUP); // Use internal pull-up resistor
  randomSeed(analogRead(0)); // Seed random number generator

  pinMode(buttonA, INPUT_PULLUP);
  pinMode(buttonB, INPUT);
  pinMode(buttonC, INPUT_PULLUP);
  pinMode(relayPin1, OUTPUT);
  pinMode(relayPin2, OUTPUT);

  Serial.begin(9600);
}

void loop() {

 randomFunction();
 joystickFunction ();
 
 pushBallFunction();
 
  

}

//***********************************************************************************
void randomFunction() {

unsigned long currentMillis = millis();
  int startButtonState = digitalRead(startButtonPin);
  int stopRunButtonState = digitalRead(stopRunButtonPin);
  int stopReverseButtonState = digitalRead(stopReverseButtonPin);

  unsigned long currentMillis2 = millis();
  int startButton2State = digitalRead(startButtonPin);
  int stopRunButton2State = digitalRead(stopRunButton2Pin);
  int stopReverseButton2State = digitalRead(stopReverseButton2Pin);

 //if(startButtonState==LOW) {
 
  if (currentMillis - lastButtonPressTime > debounceDelay) {  
      // 重置上次按钮按下时间  
      lastButtonPressTime = currentMillis; 
      if(startButtonState==LOW) { 

    if(flag==0 and motordown==0)// no led down
  {
  int randomIndex = random( numTimes);
  interval = times[randomIndex];
  currentDirection = random(0, 2);
 //Start motor in chosen direction
   if (currentDirection == 0) {
      digitalWrite(relay1Pin, HIGH); // Move motor right
      digitalWrite(relay2Pin, LOW); 
    } else if (currentDirection == 1)
    {
      digitalWrite(relay1Pin, LOW);
      digitalWrite(relay2Pin, HIGH); // Move motor left 
    }
    previousMillis = currentMillis;
    motorRunning = true;
  }

  if(flag=1 and motordown== 1)
  {
    int randomIndex = random( numTimes);
    interval = times[randomIndex];
    currentDirection = 1;
    digitalWrite(relay1Pin, LOW);
      digitalWrite(relay2Pin, HIGH); // Move motor left
      previousMillis = currentMillis;
    motorRunning = true;
    motordown=0;
    flag=0;
  }

  if(flag=1 and motordown== 2)
  {
    int randomIndex = random( numTimes);
    interval = times[randomIndex];
    currentDirection = 0;
    digitalWrite(relay1Pin, HIGH); // Move motor right
      digitalWrite(relay2Pin, LOW); 
      previousMillis = currentMillis;
    motorRunning = true;
    motordown=0;
    flag=0;
  }
  }
}


  if( stopReverseButtonState == 1)
{
  digitalWrite(relay1Pin, LOW);
  motordown=1;
  flag=1;

}

if( stopRunButtonState == 1)
{
  digitalWrite(relay2Pin, LOW);
  motordown=2;
  flag=1;
}


if (motorRunning) {
    // Check if interval has passed
    if (currentMillis - previousMillis >= interval) {
       //Stop motor
      digitalWrite(relay1Pin, LOW);
      digitalWrite(relay2Pin, LOW);
      motorRunning = false;
    }
  }

//if(startButtonState==LOW) {
   if (currentMillis2 - lastButtonPressTime > debounceDelay) {  
      // 重置上次按钮按下时间  
      lastButtonPressTime = currentMillis2; 
      if(startButtonState==LOW) { 

    if(flag2==0 and motor2down==0)// no led down
  {
  int random2Index = random( numTimes2);
  interval2 = times2[random2Index];
  currentDirection2 = random(0, 2);
 //Start motor in chosen direction
   if (currentDirection2 == 0) {
      digitalWrite(relay3Pin, HIGH); // Move motor right
      digitalWrite(relay4Pin, LOW); 
    } else if (currentDirection2 == 1)
    {
      digitalWrite(relay3Pin, LOW);
      digitalWrite(relay4Pin, HIGH); // Move motor left 
    }
    previousMillis2 = currentMillis2;
    motorRunning2 = true;
  }
  if(flag2=1 and motor2down== 1)
  {
    int random2Index = random( numTimes2);
    interval2 = times2[random2Index];
    currentDirection2 = 1;
    digitalWrite(relay3Pin, LOW);
      digitalWrite(relay4Pin, HIGH); // Move motor left
      previousMillis2 = currentMillis2;
    motorRunning2 = true;
    motor2down=0;
    flag2=0;
  }

  if(flag2=1 and motor2down== 2)
  {
    int random2Index = random( numTimes2);
    interval2 = times2[random2Index];
    currentDirection2 = 0;
    digitalWrite(relay3Pin, HIGH); // Move motor right
      digitalWrite(relay4Pin, LOW); 
      previousMillis2 = currentMillis2;
    motorRunning2 = true;
    motor2down=0;
    flag2=0;
  }
  }
}


  if( stopReverseButton2State == 1)
{
  digitalWrite(relay3Pin, LOW); 
  motor2down=1;
  flag2=1;

}

if( stopRunButton2State == 1)
{
  digitalWrite(relay4Pin, LOW);
  motor2down=2;
  flag2=1;
}


if (motorRunning2) {
    // Check if interval2 has passed
    if (currentMillis2 - previousMillis2 >= interval2) {
       //Stop motor
      digitalWrite(relay3Pin, LOW);
      digitalWrite(relay4Pin, LOW);
      motorRunning2 = false;
    }
  }
}

//********************************************************************************

void joystickFunction ()
{
 int x; // x the variable for the position of the jostick on the horizontal axe
 x=analogRead(JoyStick_X);
 Serial.println(x);

 if ((x > middleX + 100) and (digitalRead(stopRunButtonPin)== LOW)) // moving te joystick to the left
 {
     //Left direction <<<<<
     digitalWrite(relay1Pin, HIGH);
     digitalWrite(relay2Pin, LOW);
  }

  else if ((x < middleX - 100) and (digitalRead(stopReverseButtonPin) == LOW))  // moving te joystick to the right
  {
     //  Right direction >>>>>
      digitalWrite(relay1Pin, LOW);
      digitalWrite(relay2Pin, HIGH);
  }

    //else no action 
  // else 
  //  {
  //     digitalWrite(relay1Pin, LOW);
  //     digitalWrite(relay2Pin, LOW);
  //    }
  

  int y;
 y=analogRead(JoyStick_Y);
 Serial.println(y);

 if ((y > middleY + 100) and (digitalRead(stopRunButton2Pin)== LOW))
 {
     //👆 Up direction 
     digitalWrite(relay3Pin, HIGH);
     digitalWrite(relay4Pin, LOW);
      //delay(50);
  }

   else if ((y < middleY - 100) and (digitalRead(stopReverseButton2Pin) == LOW))
  {
     //👇 Down direction 
      digitalWrite(relay3Pin, LOW);
      digitalWrite(relay4Pin, HIGH);  
      // delay (50) ; 
  }

    // else no action
  //  else 
  //  {
  //     digitalWrite(relay3Pin, LOW);
  //     digitalWrite(relay4Pin, LOW);
  // }
  
}

//***************************************************************************************

void pushBallFunction() 
{
  
  // Pulling the ball 
  if (digitalRead(buttonA) == LOW && digitalRead(buttonB) == LOW && digitalRead(buttonC) == HIGH)  //On a press
  //digitalRead(buttonB) == LOW &&
  {
    // motor running forward
    digitalWrite(relayPin1,HIGH);
    digitalWrite(relayPin2,LOW);
    motorStart = 0;
  Serial.println("forward");
 }

 if (digitalRead(buttonA) == LOW && digitalRead(buttonB) == HIGH && digitalRead(buttonC) == HIGH and (motorStart = 0))  //On a press
  //digitalRead(buttonB) == LOW &&
  {
    // motor running forward
    digitalWrite(relayPin1,HIGH);
    digitalWrite(relayPin2,LOW);
    motorStart = 1;
  Serial.println("forward");
 }

 // coming back
  if (digitalRead(buttonA) == HIGH  && digitalRead(buttonB) == HIGH && digitalRead(buttonC) == LOW)// switch after serving the ball
//digitalRead(buttonA) == HIGH  && digitalRead(buttonB) == HIGH &&
  {
    // motor running forward
    digitalWrite(relayPin1,LOW);
    digitalWrite(relayPin2,HIGH);
  Serial.println("backward");
 }

 // Stop
  if (digitalRead(buttonA) == HIGH  && digitalRead(buttonB) == LOW && digitalRead(buttonC) == HIGH )// switch after serving the ball
//digitalRead(buttonA) == HIGH  && digitalRead(buttonB) == LOW && digitalRead(buttonC) == HIGH  
  {
    // motor stops on the way back
    digitalWrite(relayPin1,LOW);
    digitalWrite(relayPin2,LOW); 
  Serial.println("Stop");
 }
}