/*
  Arduino | coding-help
  Flying Ghost

  2manytoyz — 5/7/2025 10:17 PM
  Hi everyone.  New to the server and Arduino coding.
  I'm a big Halloween nut.
  Trying to make a flying ghost prop.
  I have the prop activated by a PIR sensor, run a motor for 30 seconds,
  stop,  reverse direction, and then (I want it to) stop when a hall
  effect sensor is triggered,  I have most of the code working,
  I just can't figure out how to make the hall effect sensor stop the motor.
*/

#include "BTS7960.h"

// user constants
const int RAMP_DELAY = 5;
const unsigned long RUN_TIME = 10000; // 10 seconds for test
// pin constants
const int HALL_PIN   = 3;
const int PIR_PIN    = 4;
const int EN_PIN     = 8;
const int R_PWM_PIN  = 9;
const int L_PWM_PIN = 10;

volatile bool travelDir = true;
volatile bool isRunning = false;
volatile int speed = 0;
unsigned long prevTime = 0;
int increment = 1;
//bool isAtSpeed = false;

BTS7960 motorController(EN_PIN, L_PWM_PIN, R_PWM_PIN);

bool checkPIR()  {
  if (digitalRead(PIR_PIN) == HIGH) {
    motorController.Enable();
    return true;
  }
  return false;
}

bool checkHall()  {
  if (digitalRead(HALL_PIN) == LOW) {
    motorController.Stop();
    motorController.Disable();
    return true;
  }
  return false;
}

int rampSpeed(int increment)  {
  speed = speed + increment;
  delay(RAMP_DELAY);
  return speed;
}

void runMotor(int dir, int speed) {
  if (dir == true) {
    motorController.TurnRight(speed);
  } else {
    motorController.TurnLeft(speed);
  }
}

void stopISR() {
  isRunning = false;
  //speed = 0;
  travelDir = !travelDir;
  motorController.Stop();
  motorController.Disable();
}

void setup() {
  Serial.begin(115200);
  pinMode(HALL_PIN, INPUT);
  pinMode(PIR_PIN, INPUT);
  attachInterrupt(digitalPinToInterrupt(HALL_PIN), stopISR, CHANGE);
}

void loop() {
  bool isPIR = checkPIR();
  bool isHall = checkHall();

  if (isHall) {
    isRunning = false;
  } else if (isPIR) {
    isRunning = true;
  }

  if (isRunning)  {

    while (speed < 255)  {
      Serial.print("Ramp up ");
      Serial.print(travelDir ? "forward: " : "reverse: ");
      Serial.println(speed);
      speed = rampSpeed(1); //ramp up
      runMotor(travelDir, speed); // fwd
    }
    Serial.print("Running ");
    Serial.print(travelDir ? "forward" : "reverse");
    delay(RUN_TIME); //wait 30 secs

    while (speed > 0) {
      Serial.print("Ramp down ");
      Serial.print(travelDir ? "forward: " : "reverse: ");
      Serial.println(speed);
      speed = rampSpeed(-1); //ramp down
      runMotor(travelDir, speed); // fwd
    }
    //Serial.println("Reverse");
    travelDir = !travelDir;
    delay(1000); //wait 30 secs


    /*
        if (travelDir)  {
          Serial.println("Ramp up reverse");
          speed = rampSpeed(1); //ramp up
          runMotor(1, speed); // rev
          if (speed == 255) {
            Serial.println("Running reverse");
            //delay(5000); //wait 30 secs
            //Serial.println("Ramp down forward");
            //speed = rampSpeed(-1); //ramp down
            runMotor(1, speed); // rev
          }
          //speed = rampSpeed(1); //ramp up
          //runMotor(1, speed); // rev
        }
    */
  }
}

/*
  if isrunning
  ramp up
  wait 30 secs
  ramp down
  reverse
  ramp up
  wait 30
  ramp down
  repeat


typedef enum { STATE_STOP,
               STATE_RAMP_UP_FWD,
               STATE_RUN_FWD,
               STATE_RAMP_DN_FWD,
               STATE_RAMP_UP_REV,
               STATE_RUN_REV,
               STATE_RAMP_DN_REV
             } states;

// current state-machine state
states state = STATE_STOP;
*/

/*

  switch (state)  {
    case STATE_STOP:

      break;
    case STATE_RAMP_UP_FWD:
      runMotor(0, speed);
      break;
    case STATE_RUN_FWD:

      break;
    case STATE_RAMP_DN_FWD:

      break;
    case STATE_RAMP_UP_REV:

      break;
    case STATE_RUN_REV:

      break;
    case STATE_RAMP_DN_REV:

      break;
    default:

      break;
  }

  //runMotor(0, 255);
  }





  if (isRunning)  {
  if (!isAtSpeed) {
    speed = rampSpeed(1);
    if (speed == 255) {
      //increment = -1;
      isAtSpeed = true;
      prevTime = millis(); // grab current time
    }
    runMotor(dir, speed);

  }


  if (millis() - prevTime >= RUN_TIME && isAtSpeed)  {
    prevTime = millis();
    slowToStop();
    speed = rampSpeed(-1);

    dir = !dir;
  }
  }

  }
*/