/*COMMENTS____________________________________________________________________
 * FIX TURNING FUNCTIONS
*/

// Load Wi-Fi library______________________________________________________________________________________________
#include <WiFi.h>


// Replace with your network credentials
const char* ssid = "SavsLaptop";
const char* password = "multimeter";

// Set web server port number to 80
WiFiServer server(80);

// Variable to store the HTTP request
String header;

// Assign output variables to GPIO pins
const int output26 = 26;
const int output27 = 27;
const int output25 = 25;
const int output33 = 33;
const int output14 = 14;
const int output32 = 32;

//PMW............................................................
const int freq = 30000;
const int pwm1Channel = 0;
const int pwm2Channel = 1;
const int resolution = 8;

// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0; 
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;

//MY FUNCTIONS_____________________________________________________________________________________________________
void forward(){
  digitalWrite(output27, LOW);
  digitalWrite(output26, HIGH);
  digitalWrite(output33, HIGH);
  digitalWrite(output25, LOW);
  //delay(1000);
  //pinsOff();  
}
//BACKWARD............................................................
void backward(){
  digitalWrite(output27, HIGH);
  digitalWrite(output26, LOW);
  digitalWrite(output33, LOW);
  digitalWrite(output25, HIGH);
  //delay(1000);
  //pinsOff(); 
}
//RIGHT...............................................................
void right(){
  Serial.println("Turning Right");
  digitalWrite(output27, LOW);
  digitalWrite(output26, HIGH);
  digitalWrite(output25, HIGH);
  digitalWrite(output33, LOW);
  ledcWrite(pwm1Channel, 10);
  ledcWrite(pwm2Channel, 255); 
  delay(1000);
  pinsOff();
}
//LEFT................................................................
void left(){
  Serial.println("Turning Left");
  digitalWrite(output27, LOW);
  digitalWrite(output26, HIGH);
  digitalWrite(output25, HIGH);
  digitalWrite(output33, LOW);
  ledcWrite(pwm2Channel, 0);
  ledcWrite(pwm1Channel, 255); 
  delay(1000);
  pinsOff();
}
//PINS OFF............................................................
void pinsOff(){
  digitalWrite(output27, LOW);
  digitalWrite(output26, LOW);
  digitalWrite(output25, LOW);
  digitalWrite(output33, LOW); 
}
//SETUP____________________________________________________________________________________________________________
void setup() {

  digitalWrite(output14, HIGH);
  digitalWrite(output32, HIGH);
  
  Serial.begin(115200);
  // Initialize the output variables as outputs
  pinMode(output26, OUTPUT);
  pinMode(output27, OUTPUT);
  pinMode(output25, OUTPUT);
  pinMode(output33, OUTPUT);
  pinMode(output14, OUTPUT);
  pinMode(output32, OUTPUT);
  // Set outputs to LOW
  digitalWrite(output26, LOW);
  digitalWrite(output27, LOW);
  digitalWrite(output25, LOW);
  digitalWrite(output33, LOW);
  digitalWrite(output14, HIGH);
  digitalWrite(output32, HIGH);

  //configure PMW functionalities..................................................
  ledcSetup(pwm1Channel, freq, resolution);
  ledcSetup(pwm2Channel, freq, resolution);
  //ledcAttachPin(output14, pwm1Channel);
  //ledcAttachPin(output32, pwm1Channel);
  
  // Connect to Wi-Fi network with SSID and password................................
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address and start web server....................................
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
  server.begin();
}

//LOOP_______________________________________________________________________________________________________________
void loop(){

  digitalWrite(output14, HIGH);
  digitalWrite(output32, HIGH);
  WiFiClient client = server.available();   // Listen for incoming clients

  if (client) {                             // If a new client connects,
    currentTime = millis();
    previousTime = currentTime;
    Serial.println("New Client.");          // print a message out in the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected() && currentTime - previousTime <= timeoutTime) {  // loop while the client's connected
      currentTime = millis();
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        header += c;
        if (c == '\n') {                    // if the byte is a newline character
          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println("Connection: close");
            client.println();
            
            //INSERTED CODE..........................................................
             if (header.indexOf("GET /forward") >= 0) {
              Serial.println("going forward");
              forward();
            }

            if (header.indexOf("GET /backward") >= 0) {
              Serial.println("going backward");
              backward();
            }
            if (header.indexOf("GET /right") >= 0) {
              Serial.println("going right");
              right();
            }
            if (header.indexOf("GET /left") >= 0) {
              Serial.println("going left");
              left();
            }
            if (header.indexOf("GET /stop") >= 0) {
              Serial.println("Stopping");
              pinsOff();
            }
            
            //........................................................................
            // Display the HTML web page
            client.println("<!DOCTYPE html><html>");
            client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
            client.println("<link rel=\"icon\" href=\"data:,\">");
            // CSS to style the on/off buttons 
            // Feel free to change the background-color and font-size attributes to fit your preferences
            client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
            client.println(".button { background-color: #C778F0; border: none; color: white; padding: 50px 75px;");
            client.println(".button3 { background-color: #EC1B1B; border: none; color: white; padding: 50px 75px;");
            client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
            client.println(".button2 {background-color: #555555;}</style></head>");
            
            // Web Page Heading
            client.println("<body><h1>RC CAR</h1>");


            /*client.println("<a href='/forward'><button>FORWARD</button></a>");
            client.println("<a href='/backward'><button>BACKWARD</button></a>");
            client.println("<a href='/right'><button>RIGHT</button></a>");
            client.println("<a href='/left'><button>LEFT</button></a>");*/

            client.println("<p><a href=\"/forward\"><button class=\"button\">&#8593</button></a></p>");
            client.println("<p><a href=\"/stop\"><button class=\"button\">STOP</button></a></p>");
            client.println("<p><a href=\"/backward\"><button class=\"button\">&#8595</button></a></p>");
            // Display current state, and ON/OFF buttons for GPIO 26  
            
            // The HTTP response ends with another blank line
            client.println();
            // Break out of the while loop
            break;
          } else { // if you got a newline, then clear currentLine
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }
      }
    }
    // Clear the header variable
    header = "";
    // Close the connection
    client.stop();
    Serial.println("Client disconnected.");
    Serial.println("");
  }
}