////////////////////////////////////////////////////////
//////G sensosr controlled robot Car by Haq Nawaz///////
////////////////////////////////////////////////////////
#define REMOTEXY_MODE__SOFTSERIAL
#include <SoftwareSerial.h>

#include <RemoteXY.h>

// RemoteXY connection settings 
#define REMOTEXY_SERIAL_RX 2
#define REMOTEXY_SERIAL_TX 3
#define REMOTEXY_SERIAL_SPEED 9600

#define PIN_BUTTON_1 13


// RemoteXY configurate  
#pragma pack(push, 1)
uint8_t RemoteXY_CONF[] =
  { 3,0,19,0,6,5,0,1,0,1
  ,50,12,12,2,88,0,5,16,55,18
  ,42,42,2 };
  
// this structure defines all the variables of your control interface 
struct {

    // input variable
  uint8_t button_1; // =1 if button pressed, else =0 
  int8_t joystick_1_x; // =-100..100 x-coordinate joystick position 
  int8_t joystick_1_y; // =-100..100 y-coordinate joystick position 

    // other variable
  uint8_t connect_flag;  // =1 if wire connected, else =0 

} RemoteXY;
#pragma pack(pop)


/* defined the right motor control pins */ 
#define PIN_MOTOR_RIGHT_UP 7 
#define PIN_MOTOR_RIGHT_DN 6 
#define PIN_MOTOR_RIGHT_SPEED 10 

/* defined the left motor control pins */ 
#define PIN_MOTOR_LEFT_UP 5 
#define PIN_MOTOR_LEFT_DN 4 
#define PIN_MOTOR_LEFT_SPEED 9 
#define PIN_BUTTON_1 13

  




/* defined two arrays with a list of pins for each motor */
unsigned char RightMotor[3] =  
  {PIN_MOTOR_RIGHT_UP, PIN_MOTOR_RIGHT_DN, PIN_MOTOR_RIGHT_SPEED};
unsigned char LeftMotor[3] =  
  {PIN_MOTOR_LEFT_UP, PIN_MOTOR_LEFT_DN, PIN_MOTOR_LEFT_SPEED};

/* 
   speed control of the motor 
   motor - pointer to an array of pins 
   v - motor speed can be set from -100 to 100
*/ 
void Wheel (unsigned char * motor, int v) 
{ 
  if (v>100) v=100; 
  if (v<-100) v=-100; 
  if (v>0) { 
    digitalWrite(motor[0], HIGH); 
    digitalWrite(motor[1], LOW); 
    analogWrite(motor[2], v*2.55); 
  } 
  else if (v<0) { 
    digitalWrite(motor[0], LOW); 
    digitalWrite(motor[1], HIGH); 
    analogWrite(motor[2], (-v)*2.55); 
  } 
  else { 
    digitalWrite(motor[0], LOW); 
    digitalWrite(motor[1], LOW); 
    analogWrite(motor[2], 0); 
  } 
} 

void setup() 
{ 
  /* initialization pins */ 

  
  RemoteXY_Init (); 
  
  pinMode (PIN_BUTTON_1, OUTPUT);
  pinMode (PIN_MOTOR_RIGHT_UP, OUTPUT); 
  pinMode (PIN_MOTOR_RIGHT_DN, OUTPUT); 
  pinMode (PIN_MOTOR_LEFT_UP, OUTPUT); 
  pinMode (PIN_MOTOR_LEFT_DN, OUTPUT); 


  /* initialization module RemoteXY */ 
  RemoteXY_Init (); 

} 

void loop() 
{ 
  /* event handler module RemoteXY */ 
  RemoteXY_Handler (); 

  
 
  
  digitalWrite(PIN_BUTTON_1, (RemoteXY.button_1==0)?LOW:HIGH);

  /* manage the right motor */ 
  Wheel (RightMotor, RemoteXY.joystick_1_y - RemoteXY.joystick_1_x);
  /* manage the left motor */ 
  Wheel (LeftMotor, RemoteXY.joystick_1_y + RemoteXY.joystick_1_x);
}