#include <Arduino.h>

int DIR1 = 2;
int PWM1 = 3;
int DIR2 = 4;
int PWM2 = 5;
int DIR3 = 6;
int PWM3 = 7;
int DIR4 = 8;
int PWM4 = 9;

void stop() {
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, LOW);
  digitalWrite(DIR3, LOW);
  digitalWrite(DIR4, LOW);
  analogWrite(PWM1, LOW);
  analogWrite(PWM2, LOW);
  analogWrite(PWM3, LOW);
  analogWrite(PWM4, LOW);
}

void m1(int speed) {
  if (speed > 100) {
    speed = 100;

  }
  if (speed < -100) {
    speed = -100;

  }
  if (speed > 0) {
    digitalWrite(DIR1, HIGH);
    analogWrite(PWM1, abs(speed));
  }
  else {
    digitalWrite(DIR1, LOW);
    analogWrite(PWM1, abs(speed));
  }
}
void m2(int speed) {
  if (speed > 100) {
    speed = 100;

  }
  if (speed < -100) {
    speed = -100;

  }
  if (speed > 0) {
    digitalWrite(DIR2, HIGH);
    analogWrite(PWM2, abs(speed));
  }
  else {
    digitalWrite(DIR2, LOW);
    analogWrite(PWM2, abs(speed));
  }
}
void m3(int speed) {
  if (speed > 100) {
    speed = 100;

  }
  if (speed < -100) {
    speed = -100;
  }
  if (speed > 0) {
    digitalWrite(DIR3, HIGH);
    analogWrite(PWM3, abs(speed));
  }
  else {
    digitalWrite(DIR3, LOW);
    analogWrite(PWM3, abs(speed));
  }
}
void m4(int speed) {
  if (speed > 100) {
    speed = 100;
  }
  if (speed < -100) {
    speed = -100;
  }
  if (speed > 0) {
    digitalWrite(DIR4, HIGH);
    analogWrite(PWM4, abs(speed));
  }
  else {
    digitalWrite(DIR4, LOW);
    analogWrite(PWM4, abs(speed));
  }
}

void setup() {
  // initialize both serial ports:
  pinMode(DIR1, OUTPUT);
  pinMode(DIR2, OUTPUT);
  pinMode(DIR3, OUTPUT);
  pinMode(DIR4, OUTPUT);
  pinMode(PWM1, OUTPUT);
  pinMode(PWM2, OUTPUT);
  pinMode(PWM3, OUTPUT);
  pinMode(PWM4, OUTPUT);
  Serial.begin(115200);
  Serial1.begin(115200);
  Serial1.flush();
}

void loop() {
  if (Serial1.available() > 0) {
    Serial.write(Serial1.read());
  //   String buffer = "";
  //   Serial1.read();
  //   buffer = Serial1.readStringUntil('\n');
  //   // Serial.println(buffer);
  //   buffer.trim();
  //   switch (buffer[0]) {
  //     case 'F':
  //       // Serial.println("FORWARD");
  //       m1(100);
  //       m2(100);
  //       m3(100);
  //       m4(100);
  //       break;
  //     case 'B':
  //       // Serial.println("BACKWARD");
  //       m1(-100);
  //       m2(-100);
  //       m3(-100);
  //       m4(-100);
  //       break;
  //     case 'L':
  //       // Serial.println("LEFT");
  //       m1(100);
  //       m2(-100);
  //       m3(-100);
  //       m4(100);
  //       break;
  //     case 'R':
  //       // Serial.println("RIGHT");
  //       m1(-100);
  //       m2(100);
  //       m3(100);
  //       m4(-100);
  //       break;
  //     default:
  //       stop();
  //       break;
  //   }
  // }
  // else {
  //   stop();
  //   delay(25);
  }
}