/******************************************************************************************/
/*                                                                                       
/* File Name   : sketch.ino                                                            
/*                                                                                     
/* Created on  : Dec 8 , 2024                                                          
/*                                                                                   
/* Author      : Mohamed Reda Ibrahim                                                
/*                                                                                 
/* Version     : V01                                                              
/*                                                                               
/* Description : This RC Car is an ESP32-based project that enables an RC car to 
/*               clean vertical surfaces. The car is equipped with 
/*               various motor drivers, 
/*                                 
/* Layer       : APP                                                       
/***************************************************************************************/

// ========================Include section==================================

#include<ESP32Servo.h>
#include <BluetoothSerial.h>
//BluetoothSerial SerialBT;

// ========================Bluetooth Buffer=================================

// Handle received and sent messages
char message = 'n';
char incomingChar;

// ========================Bluetooth commands===============================
// - 'F' : Set the rc to forward mode and the stepper to push wire
// - 'B' : Set the rc to backward mode and the stepper to drag the wire
// - 'R' : Set the rc to right mode and the stepper to push wire
// - 'L' : Set the rc to left mode and the stepper to push wire
// - 'S' : Set the rc motor to stop mode
// - 'U' : Set the servo motor to the clean mode at angle 0
// - 'D' : Set the servo motor to standby mode at angle 100

// ========================Stepper driver pins==============================

#define STEPPER_DIR_PIN   36   // Direction pin for A4988
#define STEPPER_STEP_PIN  37  // Step pin for A4988
#define STEPPER_UP        LOW
#define STEPPER_DOWN      HIGH

int stepCount=0;
int delValue=100;

// ========================L298 motor driver pins===========================

#define IN1 14
#define IN2 15
#define IN3 16
#define IN4 17

// ========================ESC driver pins==================================

Servo esc;
#define ESC 18

// ========================Servo driver pins================================

Servo myservo;
#define Servo 19


/**
 * @brief Initializes the ESP32 board and sets up the necessary configurations.
 * 
 * This function is called once at the beginning of the program.
 */

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32-S2!");
  pinMode(STEPPER_DIR_PIN, OUTPUT);
  pinMode(STEPPER_STEP_PIN, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  myservo.attach(Servo);
  esc.attach(ESC,1000,2000);
  esc.write(100);
}

/**
 * @brief The main loop function that runs continuously.
 *
 * This function is called repeatedly after the setup() function.
 * It executes different code based on the selected mode.
 */

void loop() {

    // Read received messages
  if (Serial.available()){
    char incomingChar = Serial.read();
    if (incomingChar != '\n'){
      message = incomingChar;
    }
    Serial.write(incomingChar);  
  }
  if (message =='F'){
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
    digitalWrite(STEPPER_DIR_PIN, STEPPER_UP);
    digitalWrite(STEPPER_STEP_PIN, HIGH);
    digitalWrite(STEPPER_STEP_PIN, LOW);
    delayMicroseconds(delValue);
  }
  else if (message =='B'){
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
    digitalWrite(STEPPER_DIR_PIN, STEPPER_DOWN);
    digitalWrite(STEPPER_STEP_PIN, HIGH);
    digitalWrite(STEPPER_STEP_PIN, LOW);
    delayMicroseconds(delValue);
  }
  else if (message =='R'){
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
    digitalWrite(STEPPER_DIR_PIN, STEPPER_UP);
    digitalWrite(STEPPER_STEP_PIN, HIGH);
    digitalWrite(STEPPER_STEP_PIN, LOW);
    delayMicroseconds(delValue);
  }
  else if (message =='L'){
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
    digitalWrite(STEPPER_DIR_PIN, STEPPER_UP);
    digitalWrite(STEPPER_STEP_PIN, HIGH);
    digitalWrite(STEPPER_STEP_PIN, LOW);
    delayMicroseconds(delValue);
  }

  else if (message =='S'){
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
  }
  else if (message =='D'){
    myservo.write(100);
  }
  else if (message =='U'){
    myservo.write(0);
  }

  delay(20);

}