const int a = 12, b=18,c =14,d=13;
int position = 90;
volatile bool isRunning = false;
volatile bool isUp = false;
#include <ESP32Servo.h>

Servo servo;

void lampTask(void *parameter){
  bool lampState = false;
  while(true){
    if (isRunning){
      lampState = !lampState;
      digitalWrite(d,lampState ? HIGH : LOW);
      vTaskDelay(300 / portTICK_PERIOD_MS);
    }else{
      digitalWrite(d,LOW);
      vTaskDelay(10 / portTICK_PERIOD_MS);
    }
  }
}
void servoTask(void *parameter){
  while(true){
    if (isRunning){
    if(!isUp){
      for(position; position <= 180; position++){
        if(!isRunning){
          servo.write(position);
          isUp = false;
          break;
        }
        servo.write(position);
        vTaskDelay(50 / portTICK_PERIOD_MS);
        isUp = true;
      }
    }
  }
  if(isRunning){
    if(isUp){
      for(position; position >= 0; position--){
        servo.write(position);
        if(!isRunning){
          servo.write(position);
          isUp =true;
          break;
        }
        vTaskDelay(50 / portTICK_PERIOD_MS);
        isUp = false;

      }
    
      }
    }
    vTaskDelay(10 / portTICK_PERIOD_MS);
  }
  
}
void buttonTask(void *parameter){
  pinMode(c, INPUT_PULLUP);
  pinMode(a, INPUT_PULLUP);
    while(true){
      if(digitalRead(a) == LOW){
        isRunning = true;
      }
      if(digitalRead(c)== LOW){
        isRunning = false;
      }
    }
    vTaskDelay(50 / portTICK_PERIOD_MS);
}

void setTrue(){
  isRunning = true;
}
void setFalse(){
  isRunning = false;
}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");

  pinMode(d,OUTPUT);

  servo.attach(b, 500, 2400);
   xTaskCreatePinnedToCore(servoTask, "Servo Task", 2000, NULL, 1, NULL, 0); // Core 0
    xTaskCreatePinnedToCore(lampTask, "Lamp Task", 1000, NULL, 1, NULL, 0);  // Core 0
    xTaskCreatePinnedToCore(buttonTask, "Button Task", 1000, NULL, 1, NULL, 1); // Core 1
}

void loop() {
  // put your main code here, to run repeatedly:
  
}