#include <IRremote.h>

/*

 Send infrared commands from the Arduino to the iRobot Roomba
 by probono

 2013-03-17 Initial release

 Copyright (c) 2013 by probono
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:

 1. Redistributions of source code must retain the above copyright notice, this
 list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright notice,
 this list of conditions and the following disclaimer in the documentation
 and/or other materials provided with the distribution.

 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 IR Remote Control
 129 Left
 130 Forward
 131 Right
 132 Spot
 133 Max
 134 Small
 135 Medium
 136 Large / Clean
 137 Stop
 138 Power
 139 Arc Left
 140 Arc Right
 141 Stop

 Scheduling Remote
 142 Download
 143 Seek Dock

 Roomba Discovery Driveon Charger
 240 Reserved
 248 Red Buoy
 244 Green Buoy
 242 Force Field
 252 Red Buoy and Green Buoy
 250 Red Buoy and Force Field
 246 Green Buoy and Force Field
 254 Red Buoy, Green Buoy and Force

 Roomba 500 Drive-on Charger
 160 Reserved
 161 Force Field
 164 Green Buoy
 165 Green Buoy and Force Field
 168 Red Buoy
 169 Red Buoy and Force Field
 172 Red Buoy and Green Buoy
 173 Red Buoy, Green Buoy and Force Field

 Roomba 500 Virtual Wall
 162 Virtual Wall

 Roomba 500 Virtual Wall Lighthouse ###### (FIXME: not yet supported here)
 0LLLL0BB
 LLLL = Virtual Wall Lighthouse ID
 (assigned automatically by Roomba
 560 and 570 robots)
 1-10: Valid ID
 11: Unbound
 12-15: Reserved
 BB = Which Beam
 00 = Fence
 01 = Force Field
 10 = Green Buoy
 11 = Red Buoy

 */

IRsend irsend; // hardwired to pin 3; use a transistor to drive the IR LED for maximal range

void setup()
{
  Serial.begin(9600);
}

void loop()
{
  // Read 3-digit code from serial line and send it via IR
  char buffer[] = {
    ' ',' ',' '    }; // Receive up to 3 bytes
  while (!Serial.available()); // Wait for characters
  Serial.readBytesUntil('\n', buffer, 3);
  int incomingValue = atoi(buffer);
  if(incomingValue > 0) roomba_send(incomingValue);
  delay(1000);
}

void roomba_send(int code)
{
  Serial.print("Sending Roomba code ");
  Serial.print(code);
  int length = 8;
  unsigned int raw[length*2];
  unsigned int one_pulse = 3000;
  unsigned int one_break = 1000;
  unsigned int zero_pulse = one_break;
  unsigned int zero_break = one_pulse;

  int arrayposition = 0;
  // Serial.println("");
  for (int counter = length-1; counter >= 0; --counter) {
    if(code & (1<<counter)) {
      // Serial.print("1");
      raw[arrayposition] = one_pulse;
      raw[arrayposition+1] = one_break;
    }
    else {
      // Serial.print("0");
      raw[arrayposition] = zero_pulse;
      raw[arrayposition+1] = zero_break;
    }
    arrayposition = arrayposition + 2;
  }
  for (int i = 0; i < 3; i++) {
    irsend.sendRaw(raw, 15, 38);
    delay(50);
  }
  Serial.println("");

  /*
  Serial.print("Raw timings:");
   for (int z=0; z<length*2; z++) {
   Serial.print(" ");
   Serial.print(raw[z]);
   }
   Serial.print("\n\n");
   */
}