// This code is based on the example code provided by the manufacturer of the TG633 Ingenious Machines Remote Control Building Kits For Kids.

// Include the necessary libraries for the ESP32 and the motor driver
#include <WiFi.h>
#include <ESP32Servo.h>

// Define the pins for the motor driver
#define ENA 12
#define IN1 13
#define IN2 14
#define IN3 15
#define IN4 16
#define ENB 17

// Define the pins for the remote control receiver
#define CH1 18
#define CH2 19
#define CH3 20
#define CH4 21

// Define the variables for the motor speed and direction
int motorA_speed = 0;
int motorB_speed = 0;
int motorA_direction = 0;
int motorB_direction = 0;

// Define the variables for the remote control channels
int ch1_value = 0;
int ch2_value = 0;
int ch3_value = 0;
int ch4_value = 0;

// Setup function runs once when the board is powered on or reset
void setup() {
  // Initialize the serial communication for debugging
  Serial.begin(9600);

  // Initialize the motor driver pins as outputs
  pinMode(ENA, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENB, OUTPUT);

  // Initialize the remote control receiver pins as inputs
  pinMode(CH1, INPUT);
  pinMode(CH2, INPUT);
  pinMode(CH3, INPUT);
  pinMode(CH4, INPUT);

  // Connect to WiFi network
  WiFi.begin("Wokwi-GUEST", "" 6); // Replace with your network SSID and password
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("Connected to WiFi!");

  // Start the servo library
  Servo.begin();
}

// Loop function runs repeatedly as long as the board has power
void loop() {
  // Read the values from the remote control channels
  ch1_value = pulseIn(CH1, HIGH);
  ch2_value = pulseIn(CH2, HIGH);
  ch3_value = pulseIn(CH3, HIGH);
  ch4_value = pulseIn(CH4, HIGH);

  // Map the values from the remote control channels to the motor speed and direction
  motorA_speed = map(ch1_value, 1000, 2000, 0, 255);
  motorB_speed = map(ch2_value, 1000, 2000, 0, 255);
  motorA_direction = map(ch3_value, 1000, 2000, -1, 1);
  motorB_direction = map(ch4_value, 1000, 2000, -1, 1);

  // Set the motor speed and direction based on the mapped values
  analogWrite(ENA, motorA_speed);
  analogWrite(ENB, motorB_speed);
  digitalWrite(IN1, motorA_direction);
  digitalWrite(IN2, !motorA_direction);
  digitalWrite(IN3, motorB_direction);
  digitalWrite(IN4, !motorB_direction);

  // Print the values for debugging
  Serial.print("Motor A Speed: ");
  Serial.println(motorA_speed);
  Serial.print("Motor B Speed: ");
  Serial.println(motorB_speed);
  Serial.print("Motor A Direction: ");
  Serial.println(motorA_direction);
  Serial.print("Motor B Direction: ");
  Serial.println(motorB_direction);

  // Wait for 100 milliseconds before reading the remote control channels again
  delay(100);
}

// Reference: https://www.ingeniousmachines.com/remote-control-building-kits-for-kids/