const int buttonPin = 10;        // Pin connected to the button
const int motor1ForwardPin = 0;  // Pin input for Motor 1 forward
const int motor1BackwardPin = 3; // Pin input for Motor 1 backward
const int motor2ForwardPin = 6;  // Pin input for Motor 2 forward
const int motor2BackwardPin = 7; // Pin input for Motor 2 backward
const int stop1Pin = 4; // pin input stop motor 1 forward
const int stop2Pin = 5; // pin input stop motor 1 backward
const int stop3Pin = 8; // pin input stop motor 2 forward
const int stop4Pin = 9; // pin input stop motor 2 backward

unsigned long timeArray1[4] = {1000, 2000, 3000, 4000}; // Array of 4 time durations for Motor 1 (in milliseconds)
unsigned long timeArray2[4] = {1500, 2500, 3500, 4500}; // Array of 4 time durations for Motor 2 (in milliseconds)
bool motor1Running = false;      // State of Motor 1
bool motor2Running = false;      // State of Motor 2
unsigned long motor1StartTime = 0;// Time when Motor 1 was started
unsigned long motor2StartTime = 0;// Time when Motor 2 was started
unsigned long motor1RunDuration = 0;// Duration to run Motor 1
unsigned long motor2RunDuration = 0;// Duration to run Motor 2
bool motor1Direction = false;    // Motor 1 direction: false = forward, true = backward
bool motor2Direction = false;    // Motor 2 direction: false = forward, true = backward
unsigned long lastButtonPressTime = 0; // Last time the button was pressed
unsigned long previousMillis1 = 0; // store the last time motor 1 was updated
unsigned long previousMillis2 = 0; // store the last time motor 2 was updated

bool flag=0;// if have motor down
int motor1down=0;// motordown=0 motordown=1 motordown=2  

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

void setup() {
  pinMode(buttonPin, INPUT); // Use the internal pull-up resistor
  pinMode(motor1ForwardPin, OUTPUT);
  pinMode(motor1BackwardPin, OUTPUT);
  pinMode(motor2ForwardPin, OUTPUT);
  pinMode(motor2BackwardPin, OUTPUT);
  pinMode(stop1Pin, INPUT);
  pinMode(stop2Pin, INPUT);
  pinMode(stop3Pin, INPUT);
  pinMode(stop4Pin, INPUT);
  randomSeed(analogRead(0)); // Seed the random generator with a noise source
}

void loop() {
  unsigned long currentMillis1 = millis();
  unsigned long currentMillis2 = millis();
  // Read the button state
  int buttonState = digitalRead(buttonPin);

  // Debounce the button
  if (buttonState == HIGH ){
    if ((currentMillis1 - lastButtonPressTime) > 200) {
     lastButtonPressTime = currentMillis1; // Update the last button press time
    

    // Check if the motors are not running
    if (flag==0 && motor1down==0 ) {
      // Motor 1
      motor1Running = true;
      //motor1StartTime = currentMillis1(); // Record the start time
      motor1RunDuration = timeArray1[random(0, 4)]; // Randomly choose a duration from the array
      motor1Direction = random(0, 2); // Randomly choose the motor direction

      // Set Motor 1 direction and turn it on
      if (motor1Direction) {
        digitalWrite(motor1ForwardPin, LOW);
        digitalWrite(motor1BackwardPin, HIGH); // Run Motor 1 backward
      } else {
        digitalWrite(motor1ForwardPin, HIGH); // Run Motor 1 forward
        digitalWrite(motor1BackwardPin, LOW);
      }
       previousMillis1 = currentMillis1;
     } 

     if (flag==1 && motor1down==1 ){
      // Motor 1
       motor1down = 0;
      motor1Running = true;
      //motor1StartTime = millis(); // Record the start time
      motor1RunDuration = timeArray1[random(0, 4)]; // Randomly choose a duration from the array
      motor1Direction = false; //  motor direction forward
      digitalWrite(motor1ForwardPin, LOW); // Stop Motor 1 forward
      digitalWrite(motor1BackwardPin, HIGH); // Run Motor 1 backward
      previousMillis1 = currentMillis1;
     }

     if (flag==1 && motor1down==0 ){
      // Motor 1
      motor1down = 0;
      motor1Running = true;
      //motor1StartTime = millis(); // Record the start time
      motor1RunDuration = timeArray1[random(0, 4)]; // Randomly choose a duration from the array
      motor1Direction = true; //  motor1 direction backward
      digitalWrite(motor1ForwardPin, HIGH); // Run Motor 1 forward
      digitalWrite(motor1BackwardPin, LOW); // Stop Motor 1 backward
      previousMillis1 = currentMillis1;
     }


     
    if (flag2==0 && motor2down==0){ 
      // Motor 2
      motor2Running = true;
      //motor2StartTime = millis(); // Record the start time
      motor2RunDuration = timeArray2[random(0, 4)]; // Randomly choose a duration from the array
      motor2Direction = random(0, 2); // Randomly choose the motor direction

      // Set Motor 2 direction and turn it on
      if (motor2Direction) {
        digitalWrite(motor2ForwardPin, LOW);
        digitalWrite(motor2BackwardPin, HIGH); // Run Motor 2 backward
      } else {
        digitalWrite(motor2ForwardPin, HIGH); // Run Motor 2 forward
        digitalWrite(motor2BackwardPin, LOW);
      }
      previousMillis2 = currentMillis2;
    }

         if (flag2==1 && motor2down==1 ){
      // Motor 2
      motor2down=0;
      motor2Running = true;
      //motor2StartTime = millis(); // Record the start time
      motor2RunDuration = timeArray2[random(0, 4)]; // Randomly choose a duration from the array
      motor2Direction = false; //  motor2 direction forward
      digitalWrite(motor2ForwardPin, LOW); // Stop Motor 2 forward
      digitalWrite(motor2BackwardPin, HIGH); // Run Motor 2 backward
      previousMillis2 = currentMillis2;
     }

     if (flag2==1 && motor1down==2 ){
      // Motor 2
      motor2down=0;
      motor2Running = true;
      //motor2StartTime = millis(); // Record the start time
      motor2RunDuration = timeArray2[random(0, 4)]; // Randomly choose a duration from the array
      motor2Direction = true; //  motor direction backward
      digitalWrite(motor2ForwardPin, HIGH); // Run Motor 2 forward
      digitalWrite(motor2BackwardPin, LOW); // Stop Motor 2 backward
      previousMillis2 = currentMillis2;
     }
  }
  }
  

  // Check if Motor 1 should be turned off due to stop1Pin
  if (digitalRead(stop1Pin) == HIGH) {
    motor1Running = false;
    // Turn off Motor 1 forward direction
    digitalWrite(motor1ForwardPin, LOW);
    flag=1;
    motor1down=1;
  }

   // Check if Motor 1 should be turned off due to stop2Pin
  if (digitalRead(stop2Pin) == HIGH) {
    motor1Running = false;
    // Turn off Motor 1 forward direction
    digitalWrite(motor1BackwardPin, LOW);
    flag=1;
    motor1down=2;
  }

  // Check if Motor 2 should be turned off due to stop3Pin
  if (digitalRead(stop3Pin) == HIGH) {
    motor2Running = false;
    // Turn off Motor 2 forward direction
    digitalWrite(motor2ForwardPin, LOW);
    flag2=1;
    motor2down=0;
  }

   // Check if Motor 2 should be turned off due to stop4Pin
  if (digitalRead(stop4Pin) == HIGH) {
    motor2Running = false;
    // Turn off Motor 2 forward direction
    digitalWrite(motor2BackwardPin, LOW);
    flag2=1;
    motor2down=0;
  }

  // Check if Motor 1 should be turned off based on duration
  if (motor1Running ){
  if(currentMillis1 - previousMillis1 >= motor1RunDuration)
   {
    motor1Running = false;
    // Turn off Motor 1
    digitalWrite(motor1ForwardPin, LOW);
    digitalWrite(motor1BackwardPin, LOW);
  }
 }


  // Check if Motor 2 should be turned off
  if (motor2Running){
    if (currentMillis2 - previousMillis2 >= motor2RunDuration) 
    {
    motor2Running = false;
    // Turn off Motor 2
    digitalWrite(motor2ForwardPin, LOW);
    digitalWrite(motor2BackwardPin, LOW);
  }
 }
}