/*
6/4/24
Dean Leon and Cyrus Ho
Robot emotion challange for engr 103 (taken from sample bump bot code)
*/

#include <Wire.h>
#include <VL53L0X.h>
VL53L0X sensor;


#include <FastLED.h>
#define NUM_LEDS 2
CRGB leds[NUM_LEDS];

#define M2A 17
#define M2B 16
#define M1A 19
#define M1B 18
#define WSLED 4

uint32_t lastTime = 0;

void errorLed(int count = 1){
  for (int i = 0; i< count; i++){
    leds[0] = CRGB::Red;
    FastLED.show();
    delay(100);    
    leds[0] = CRGB::Black;
    FastLED.show();
    delay(100);
  }
  delay(1000);
}

void reverse(uint8_t mySpeed){
  ledcWrite(3, mySpeed); //Set M2B to mySpeed
  ledcWrite(2, 0); //Set M2A to LOW
  ledcWrite(1, mySpeed);//Set M1B to mySpeed
  ledcWrite(0, 0); //Set M1A to LOW
}

void forward(uint8_t mySpeed){
  ledcWrite(2, mySpeed); //Set M2A to mySpeed
  ledcWrite(3, 0); //Set M2B to LOW
  ledcWrite(0, mySpeed);//Set M1A to mySpeed
  ledcWrite(1, 0); //Set M1B to LOW
}

void cw(uint8_t mySpeed){
  ledcWrite(3, mySpeed); //Set M2B to mySpeed
  ledcWrite(2, 0); //Set M2A to LOW
  ledcWrite(1, 0); //Set M1B to LOW
  ledcWrite(0, mySpeed); //Set M1A to mySpeed
}

void ccw(uint8_t mySpeed){
  ledcWrite(2, mySpeed); //Set M2A to mySpeed
  ledcWrite(3, 0); //Set M2B to LOW
  ledcWrite(0, 0); //Set M1A to LOW
  ledcWrite(1, mySpeed); //Set M1BA to mySpeed
}

void happy(){ //happy emotion
  cw(255); //spin in clock wise circles for 3 seconds
  delay(3000);
}

void angry(){
  for(int i=0;i<10;i++){ //loop to repeat this motion 10 times
    ccw(255); //spin a little counter clockwise for .1 seconds
    delay(100);
    cw(255); //spin a little clock wise for .1 second
    delay(100);
  }
}

void sad(){
  for(int i=0;i<10;i++){ //sad emotion
    forward(100); //go forward a tiny bit to reset the motors
    delay(100);
    reverse(230); //go backwards faster to cause a gradual reverse
    delay(100);
  }
}

void nervous(){
  cw(255); //spin a tiny bit
  delay(390);
  forward(255); //then go forward as to "run"
  delay(2000);
}

void setup() {
  Serial.begin(115200);
  FastLED.addLeds<NEOPIXEL, WSLED>(leds, NUM_LEDS);  // GRB ordering is assumed
  
  // This section creates the I2C (Wire) connection and quieries for a VL53LX
  Wire.begin();
  sensor.setTimeout(500);
  if (!sensor.init())
  {
    Serial.println("Failed to detect and initialize sensor!");
    while (1) {errorLed();}
  }
  
  // Set the 4 motor controll lines as outputs
  pinMode(M1A, OUTPUT);
  pinMode(M1B, OUTPUT);
  pinMode(M2A, OUTPUT);
  pinMode(M2B, OUTPUT);

  //These lines connect 4 PWM channels to the 4 motor control Pins
  ledcSetup(0, 30000, 8);
  ledcAttachPin(M1A, 0);
  ledcSetup(1, 30000, 8);
  ledcAttachPin(M1B, 1);
  ledcSetup(2, 30000, 8);
  ledcAttachPin(M2A, 2);
  ledcSetup(3, 30000, 8);
  ledcAttachPin(M2B, 3);
  
  forward(230);
}

void loop() {
  happy();
  angry();
  sad();
  nervous();
}