/*
 * Author:      Alberto Machado
 * Project:     Palm Harvester
 * Year:        Fall 2015 - Spring 2016
 * Description: This is the code for the cutting mechanism arduino. The ports used for each motor 
 * can be seen in the comments below. The user inputs used to move all these motors can also be found in
 * the comments and also in the final report. This code controls 3 DC motors and a Stepper Motor. 
 */
#include <RCSwitch.h>

RCSwitch mySwitch = RCSwitch();
// used for stepper phases
const int one = 1; 
const int two = 2;
const int three = 3;
const int four = 4;
const int five = 5;
const int six = 6;
const int seven = 7;
const int eight = 8;
// ports for stepper motor
const int A = 11;     //in1 -- Blue cable
const int B = 5;      //in3 -- Black cable 
const int not_A = 10; //in2 -- Red cable
const int not_B = 4;  //in4 -- Green cable
const int enableA_Stepper = 13;
const int enableB_Stepper = 12;
const int Stepper_Delay = 100;  // Delay between each Stepper motor step
const int pitch_up = 6;         // value received from transmitter to signal stepper motor to pitch up
const int pitch_down = 7;       // value received from transmitter to signal stepper motor to pitch down
int state = one;                // variable to know which state the stepper is in
int counter = one;              //counts the number of step cycles the stepper has done
const int counter_limit = five; //the amount of cycles the stepper should go through in one press of the button
// ports for in_out motor
const int in_out_pwm = 9;
const int in_out_dir = 8;
// parameters for in_out motor
const int in_out_pwm_cycle = 100;
const int in_out_delay = 1000;
const int in = 5;  // value received from transmitter to signal motor to go in
const int out = 3; // value received from transmitter to signal motor to go out
// ports for left_right motor
const int left_right_pwm = 6;
const int left_right_dir = 7;
// parameters for left_right motor
const int left_right_pwm_cycle = 45;
const int left_right_delay = 500;
const int left = 2;  // value received from transmitter to signal motor to go left
const int right = 4; // value received from transmiter to signal motor to go right
// ports for saw motor
const int saw_pwm = 3;
//const int saw_dir = 1;
const int saw_pwm_cycle = 200;
const int saw_on = 10; // value received from transmitter to signal saw to turn on
const int saw_off =11; // value received from transmitter to signal saw to turn off


void setup() {
  Serial.begin(15000);
  mySwitch.enableReceive(0); // Receiver pin 2
  // Set all ports used to OUTPUT
  pinMode(A, OUTPUT); //blue cable
  pinMode(B, OUTPUT); // black cable
  pinMode(not_A, OUTPUT); //red cable
  pinMode(not_B, OUTPUT); // green cable
  pinMode(in_out_pwm, OUTPUT);
  pinMode(in_out_dir, OUTPUT);
  pinMode(left_right_pwm, OUTPUT);
  pinMode(left_right_dir, OUTPUT);
  pinMode(saw_pwm, OUTPUT);
 // pinMode(saw_dir, OUTPUT);
  pinMode(enableA_Stepper, OUTPUT);
  pinMode(enableB_Stepper, OUTPUT);
  digitalWrite(enableA_Stepper, HIGH);
  digitalWrite(enableB_Stepper, HIGH);
  // Set saw_dir to LOW since the direction doesn't matter
 // digitalWrite(saw_dir, LOW);
  analogWrite(saw_pwm, 0); // Assures saw is off
  analogWrite(left_right_pwm, 0); // Assures left_right motor is off
  analogWrite(in_out_pwm, 0);     // Assures in_out motor is off
  // set Stepper to this certain state to avoid back drive
  digitalWrite(A, HIGH);
  digitalWrite(B, LOW);
  digitalWrite(not_A, LOW);
  digitalWrite(not_B, LOW);
}

void loop() {

 if(mySwitch.available())
 {
  int value = mySwitch.getReceivedValue();

  if(value == pitch_up)
  {                // Stepper motor rotates CW
    // Step sequence: A -> AB -> B -> notA_B -> notA -> notA_notB -> notB -> A_notB -> A
      if(state == one)
      {
        digitalWrite(A, HIGH);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        state = two;
        delay(Stepper_Delay);
      }
      else if(state == two)
      {
        digitalWrite(A, HIGH);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        state = three;
        delay(Stepper_Delay);
      }
      else if(state == three)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        state = four;
        delay(Stepper_Delay);
      }
      else if(state == four)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, LOW);
        state = five;
        delay(Stepper_Delay);
      }      
      else if(state == five)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, LOW);
        state = six;
        delay(Stepper_Delay);
      }
      else if(state == six)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, HIGH);
        state = seven;
        delay(Stepper_Delay);
      }
      else if(state == seven)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, HIGH);
        state = eight;
        delay(Stepper_Delay);
      }
     else
      {
        if(counter >= counter_limit) // If gone through cycle 5 times, then stop
          state = eight;
        else
        {
        state = one;
        digitalWrite(A, HIGH);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, HIGH);
        counter++;
        }
      }
  }
  else if(value == pitch_down)
  {                                  //Stepper motor rotates CCW
    // Step sequence: A -> A_notB -> notB -> notA_notB -> notA -> notA_B -> B -> AB -> A
      if(state == one)
      {
        digitalWrite(A, HIGH);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        state = two;
        delay(Stepper_Delay);
      }
      else if(state == two)
      {
        digitalWrite(A, HIGH);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, HIGH);
        state = three;
        delay(Stepper_Delay);
      }
      else if(state == three)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, HIGH);
        state = four;
        delay(Stepper_Delay);
      }
      else if(state == four)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, HIGH);
        state = five;
        delay(Stepper_Delay);
      }      
      else if(state == five)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, LOW);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, LOW);
        state = six;
        delay(Stepper_Delay);
      }
      else if(state == six)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, HIGH);
        digitalWrite(not_B, LOW);
        state = seven;
        delay(Stepper_Delay);
      }
      else if(state == seven)
      {
        digitalWrite(A, LOW);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        state = eight;
        delay(Stepper_Delay);
      }
     else
     {
        if(counter >= counter_limit)    // If gone through cycle 5 times, then stop
          state = eight;
        else
        {
          state = one;
        digitalWrite(A, HIGH);
        digitalWrite(B, HIGH);
        digitalWrite(not_A, LOW);
        digitalWrite(not_B, LOW);
        counter++;
        }
      }
  }
  else if(value == in)                  // When joystick pressed up
  {
    if(counter < two)
    {
    digitalWrite(in_out_dir, HIGH);     // Direction of motor driver is changed to HIGH
    analogWrite(in_out_pwm, in_out_pwm_cycle);  // Turn on in_out_pwm at given pwm cycle
    delay(in_out_delay);                // Software delay in microseconds
    analogWrite(in_out_pwm, 0);         // Turn off in_out motor
    counter++;
    }
    else
      analogWrite(in_out_pwm, 0);
  }
  else if(value == out)
  {
    if(counter < two)
    {
    digitalWrite(in_out_dir, LOW);      // Direction of motor driver is changed to LOW
    analogWrite(in_out_pwm, in_out_pwm_cycle);  // Turn on in_out_pwm at given pwm cycle
    delay(in_out_delay);                // Software delay in microseconds
    analogWrite(in_out_pwm, 0);         // Turn off in_out motor
    }
    else
      analogWrite(in_out_pwm, 0);
  }
  else if(value == left)                // When joystick pressed to the left
  {
    if(counter < two)
    {
    digitalWrite(left_right_dir, HIGH); // Direction of motor driver is changed to HIGH
    analogWrite(left_right_pwm, left_right_pwm_cycle);  // Turn on left_right_pwm at given pwm cycle
    delay(left_right_delay);            // Software delay in microseconds
    analogWrite(left_right_pwm, 0);     // Turn off left_right motor
    }
    else
      analogWrite(left_right_pwm, 0);
  }
  else if(value == right)               // When joystick pressed to the right
  {
    if(counter < two)
    {
    digitalWrite(left_right_dir, LOW);  // Direction of motor driver is changed to LOW
    analogWrite(left_right_pwm, left_right_pwm_cycle);  // Turn on left_right_pwm at given pwm cycle
    delay(left_right_delay);            // Software delay in microseconds
    analogWrite(left_right_pwm, 0);     // Turn off left_right motor
    }
    else
      analogWrite(left_right_pwm, 0);
  }
  else if(value == saw_on)              // When button E is pressed
  { 
  analogWrite(saw_pwm, saw_pwm_cycle);          // Turn saw on
  }
 else if(value == saw_off)             // When button F is pressed
  
  {
    analogWrite(saw_pwm, 0);         // Turn saw off
  }
  else //if none of these buttons are pressed or joystick is in middle
  {
    // Keeps stepper in state A so that it does not back drive
    digitalWrite(A, HIGH);
    digitalWrite(B, LOW);
    digitalWrite(not_A, LOW);
    digitalWrite(not_B, LOW);
    analogWrite(in_out_pwm, 0);      // Turn off in_out motor
    analogWrite(left_right_pwm, 0);  // Turn off left_right motor
    state = one;                     // reset state variable to starting state
    counter = one;                   // reset counter variable to one
  //  analogWrite(saw_pwm, 75);
   }
 }
}