// Motor 1 control pins
const int motor1ForwardPin = 14;
const int motor1BackwardPin = 13;

// Motor 2 control pins
const int motor2ForwardPin = 19;
const int motor2BackwardPin = 17;

// Stop buttons
const int stop1ForwardPin = 26;
const int stop1BackwardPin = 27;
const int stop2ForwardPin = 23;
const int stop2BackwardPin = 22;

// Shared Run-once button
const int runOncePin = 2;

// Duration arrays (ms)
unsigned int durations1[] = {1000, 2000, 3000, 4000};
unsigned int durations2[] = {1500, 2500, 3500, 4500};

// Motor state tracking
bool motor1Running = false;
bool motor2Running = false;
bool motor1Direction = false;
bool motor2Direction = false;
unsigned long motor1EndTime = 0;
unsigned long motor2EndTime = 0;

// Button press tracking
bool runOncePressed = false;

void setup() {
  Serial.begin(115200);

  // Motor pins
  pinMode(motor1ForwardPin, OUTPUT);
  pinMode(motor1BackwardPin, OUTPUT);
  pinMode(motor2ForwardPin, OUTPUT);
  pinMode(motor2BackwardPin, OUTPUT);

  // Stop buttons
  pinMode(stop1ForwardPin, INPUT);
  pinMode(stop1BackwardPin, INPUT);
  pinMode(stop2ForwardPin, INPUT);
  pinMode(stop2BackwardPin, INPUT);

  // Run-once button
  pinMode(runOncePin, INPUT_PULLUP);

  // Start with motors off
  stopMotor1();
  stopMotor2();
}

void loop() {
  // Stop logic for Motor 1
  if (motor1Running) {
    if (digitalRead(stop1ForwardPin) == HIGH && motor1Direction == false) {
      stopMotor1();
      Serial.println("Motor 1 stopped by Forward Button");
    }
    if (digitalRead(stop1BackwardPin) == HIGH && motor1Direction == true) {
      stopMotor1();
      Serial.println("Motor 1 stopped by Backward Button");
    }
  }

  // Stop logic for Motor 2
  if (motor2Running) {
    if (digitalRead(stop2ForwardPin) == HIGH && motor2Direction == false) {
      stopMotor2();
      Serial.println("Motor 2 stopped by Forward Button");
    }
    if (digitalRead(stop2BackwardPin) == HIGH && motor2Direction == true) {
      stopMotor2();
      Serial.println("Motor 2 stopped by Backward Button");
    }
  }

  // Shared Run-once trigger
  if (digitalRead(runOncePin) == LOW && !runOncePressed && !motor1Running && !motor2Running) {
    runOncePressed = true;
    startMotor1();
    startMotor2();
  }

  // Reset trigger when button is released
  if (digitalRead(runOncePin) == HIGH) {
    runOncePressed = false;
  }

  // Auto-stop Motor 1
  if (motor1Running && millis() >= motor1EndTime) {
    stopMotor1();
    Serial.println("Motor 1 stopped (Time Expired)");
  }

  // Auto-stop Motor 2
  if (motor2Running && millis() >= motor2EndTime) {
    stopMotor2();
    Serial.println("Motor 2 stopped (Time Expired)");
  }
}

// Motor 1 control
void startMotor1() {
  motor1Direction = random(0, 2);
  unsigned int duration = durations1[random(0, 4)];

  if (motor1Direction == false) {
    Serial.println("Motor 1 moving FORWARD");
    digitalWrite(motor1ForwardPin, HIGH);
    digitalWrite(motor1BackwardPin, LOW);
  } else {
    Serial.println("Motor 1 moving BACKWARD");
    digitalWrite(motor1ForwardPin, LOW);
    digitalWrite(motor1BackwardPin, HIGH);
  }

  motor1Running = true;
  motor1EndTime = millis() + duration;
}

void stopMotor1() {
  digitalWrite(motor1ForwardPin, LOW);
  digitalWrite(motor1BackwardPin, LOW);
  motor1Running = false;
}

// Motor 2 control
void startMotor2() {
  motor2Direction = random(0, 2);
  unsigned int duration = durations2[random(0, 4)];

  if (motor2Direction == false) {
    Serial.println("Motor 2 moving FORWARD");
    digitalWrite(motor2ForwardPin, HIGH);
    digitalWrite(motor2BackwardPin, LOW);
  } else {
    Serial.println("Motor 2 moving BACKWARD");
    digitalWrite(motor2ForwardPin, LOW);
    digitalWrite(motor2BackwardPin, HIGH);
  }

  motor2Running = true;
  motor2EndTime = millis() + duration;
}

void stopMotor2() {
  digitalWrite(motor2ForwardPin, LOW);
  digitalWrite(motor2BackwardPin, LOW);
  motor2Running = false;
}