#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "driver/ledc.h"

#define MOTOR_A 7
#define MOTOR_A_INV 8
#define MOTOR_B 9
#define MOTOR_B_INV 10
#define TCRT_0 0
#define TCRT_1 1
#define TCRT_2 2
#define TCRT_3 3
#define TCRT_4 4
#define TCRT_5 5
#define TCRT_6 6
#define START_BTN 20

void app_main() {
  printf("initialization start\n");
  ledc_timer_config_t ledc_timer = {
    .speed_mode = LEDC_LOW_SPEED_MODE,
    .duty_resolution = LEDC_TIMER_10_BIT,
    .timer_num = LEDC_TIMER_0,
    .freq_hz = 50000,
    .clk_cfg = LEDC_APB_CLK,
    .deconfigure = 0
  };
  ledc_channel_config_t ledc_channel_0 = {
    .gpio_num = MOTOR_A,
    .speed_mode = ledc_timer.speed_mode,
    .channel = LEDC_CHANNEL_0,
    .intr_type = LEDC_INTR_DISABLE,
    .timer_sel = ledc_timer.timer_num,
    .duty = 0,
    .hpoint = 0
  };
  ledc_channel_config_t ledc_channel_1 = {
    .gpio_num = MOTOR_A_INV,
    .speed_mode = ledc_timer.speed_mode,
    .channel = LEDC_CHANNEL_1,
    .intr_type = LEDC_INTR_DISABLE,
    .timer_sel = ledc_timer.timer_num,
    .duty = 0,
    .hpoint = 0
  };

  printf("initialization ledc...\n");
  if ((ledc_timer_config(&ledc_timer) == ESP_OK) && (ledc_channel_config(&ledc_channel_0) == ESP_OK))
  {
    printf("initialisation ledc success\n");
  }
  else {
    printf("initialisation ledc falled\n");
  }
  printf("initialisation gpio\n");
  if (
    (gpio_set_direction(TCRT_0, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_1, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_2, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_3, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_4, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_5, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(TCRT_6, GPIO_MODE_INPUT) == ESP_OK) &&
    (gpio_set_direction(START_BTN,GPIO_MODE_INPUT) == ESP_OK)
  ) {
    printf("initialisation gpio success\n");
  }
  else{
    printf("initialisation gpio falled\n");
  }
}