const byte ButtonA_pin = 2;
const byte ButtonB_pin = 3;

const byte ButtonC_pin = 4;
const byte ButtonD_pin = 5;

const byte RelayF_pin = 6; //Forward A
const byte RelayR_pin = 7; //Reverse A

const byte RelayF2_pin = 8; //Forward B
const byte RelayR2_pin = 9; //Reverse B

unsigned long start_time, time_now, timeout;
// delay_time set to 3 seconds for testing
// change as needed
unsigned long delay_time = 3000L; 

unsigned long start_time2, time_now2, timeout2;
unsigned long delay_time2 = 3000L; 


void setup ()
{
  Serial.begin(115200);
  Serial.println("\nhi Mom!\n");

  pinMode (RelayF_pin, OUTPUT);
  pinMode (RelayR_pin, OUTPUT);
  digitalWrite (RelayF_pin, LOW); // Assumes a HIGH triggered relay
  digitalWrite (RelayR_pin, LOW);
  pinMode (RelayF2_pin, OUTPUT);
  pinMode (RelayR2_pin, OUTPUT);
  digitalWrite (RelayF2_pin, LOW); // Assumes a HIGH triggered relay
  digitalWrite (RelayR2_pin, LOW);

  pinMode (ButtonC_pin, INPUT_PULLUP);
  pinMode (ButtonD_pin, INPUT_PULLUP);
  pinMode (ButtonA_pin, INPUT_PULLUP);
  pinMode (ButtonB_pin, INPUT_PULLUP);
}

void loop ()
{
  static bool lastA;
  bool thisA = digitalRead (ButtonA_pin) == LOW;
  bool startAForward = false;

  if (lastA != thisA)
  {
    if (thisA) {
      // Stop the actuator
      Serial.println("        A STOP");
      digitalWrite (RelayF_pin, LOW);
      digitalWrite (RelayR_pin, LOW);

      startAForward = true;
   }

   lastA = thisA;
   Serial.println("A delay with any transition.");
   delay(100);
  }

  if (startAForward) {
    // Start the actuator forward
    Serial.println("        A FORWARD");    
    digitalWrite (RelayF_pin, HIGH);
    start_time = millis();

    startAForward = false;   
  }

  static bool lastB;
  bool thisB = digitalRead (ButtonB_pin) == LOW;
  bool startBReverse = false;

  if (lastB != thisB)
  {
    if (thisB) {
      // Stop the actuator
      Serial.println("        B STOP");
      digitalWrite (RelayF_pin, LOW);
      digitalWrite (RelayR_pin, LOW);

      startBReverse = true;
   }

   lastB = thisB;
   Serial.println("B delay with any transition.");
   delay(100);
  }

  if (startBReverse) {
       // Start the actuator forward
      Serial.println("        B REVERSE");
      digitalWrite (RelayR_pin, HIGH);
      start_time = millis();

      startBReverse = false;   
  }

  time_now = millis();
  if (time_now - start_time > delay_time)
  {
    // Stop the actuator after delay_time. Once

    if (digitalRead(RelayF_pin) == HIGH || digitalRead(RelayR_pin) == HIGH)
    {
      Serial.println("        AB timeout STOP");
      digitalWrite (RelayF_pin, LOW);
      digitalWrite (RelayR_pin, LOW);
    }
  }







  if (digitalRead (ButtonC_pin) == LOW)
  {
    // Stop the actuator
    digitalWrite (RelayF2_pin, LOW);
    digitalWrite (RelayR2_pin, LOW);
    delay(100); // Wait for it to stop
    // Start the actuator forward
    digitalWrite (RelayF2_pin, HIGH);
    start_time2 = millis();
  }

  if (digitalRead (ButtonD_pin) == LOW)
  {
    // Stop the actuator
    digitalWrite (RelayF2_pin, LOW);
    digitalWrite (RelayR2_pin, LOW);
    delay(100);
    // Start the actuator reverse
    digitalWrite (RelayR2_pin, HIGH);
    start_time2 = millis();
  }

  time_now2 = millis();
  // Check if millis rolled over
  if (start_time2 > time_now2) start_time2 = millis();
  timeout2 = time_now2 - start_time2;

  if ( timeout2 > delay_time2)
  {
    // Stop the actuator after delay_time 
    digitalWrite (RelayF2_pin, LOW);
    digitalWrite (RelayR2_pin, LOW);
  }
}