/*
 * Test.c
 *
 *  Created on: Apr 18, 2018
 *      Author: cabarnes
 */

/*
 * main.c
 */

#include "SERVO.h"
#include "timer.h"
#include "uart.h"
#include "lcd.h"
#include "ir.h"
#include "math.h"
#include "Sonar.h"
#include "button.h"
#include <stdbool.h>
#include "driverlib/interrupt.h"
#include <inc/tm4c123gh6pm.h>
#include "advancedmovement.h"
#include "scan.h"


/*#define TIMER4B_PRESCALER 50

volatile unsigned rising_time; // start time of the return pulse
volatile unsigned falling_time; // end time of the return pulse
volatile int flag = 0;
//interrupt for the sonar to capture the rising and falling edge, moved here for compatability issues
void TIMER3B_Handler(void) {
    if(TIMER3_RIS_R &= 0x400){
        int event_time = TIMER3_TBR_R;
        if(flag == 0) {
            //rising
            rising_time = event_time;
            flag = 1;
        }
        else if(flag == 1) {
            //falling
            falling_time = event_time;
            flag = 2;
        }
    }
    TIMER3_ICR_R |=0x400;
}*/
//Rotates the servo by 2 degrees from 0 to 180 and takes a measurment with the ir and sonar sensors at each increment,
//while doing this it keeps track of the number of objects it detects and their widths,
//when 180 is reached it points to the smallest object
void main(void) {
    //initilize the IR sensor, Sonar sensor, Servo, LCD and clock
    lcd_init();
    servo_timer_init();
    uart_init();
    adc_init();
    timer_init();
    sonar_init();
    //putty variables
    char data1 = 0;
    char uartStr[80];
    //servo variables
    int counter = 7500;
    //set the servo to 0 degrees by changing the matcher value
    TIMER1_TBMATCHR_R = 0x04E200 - counter;

    oi_t *sensor_data = oi_alloc();
    oi_init(sensor_data);

    //char password[] = "password";
    //WiFi_start(password);

    int raw = 0;
    int deg = 0;
    int move_dist = 0;

    int command = 0;

    char message[5] = {0,0,0,0,0};
    int i = 0;
    while(1){
        data1 = uart_receive();
                //check if enter was pressed, if it was print out the whole string of characters and start a new line in putty



            if(data1 == 'S' || data1 == 's'){
                lcd_printf("test2");
                timer_waitMillis(250);
                data1 = 0;
                data1 = uart_receive();
                lcd_printf("%c fuck", data1);
                timer_waitMillis(250);
                deg = data1;
                scan(raw, deg);
            }
    }
}







//        data = uart_receive();
//        //check if enter was pressed, if it was print out the whole string of characters and start a new line in putty
//        lcd_printf("%c",data);
//        timer_waitMillis(250);
//        if(data == '\r'){
//            uart_sendChar('\r');
//            uart_sendChar('\n');
//
//            //lcd_printf("%.*s", i, message);
//
//            lcd_printf("%c %c %c %c %c",message[0],message[1],message[2],message[3],message[4]);
//            timer_waitMillis(250);
//            command = 1;
//            i = 0;
//            data = 0;
//        }
//        else if(data != 0){ //so it doesn't always set message[i] = 0
//            message[i] = data;
//            lcd_printf("%c", message[i]);
//            timer_waitMillis(250);
//            i++;
//            data = 0;
//        }
//
//
//if(command == 1){
//    if(message[0] == 'F' || message[0] == 'f'){
//        lcd_printf("test2");
//        if(message[2] != 0){
//            move_dist = (message[1] * 10) + message[2];
//        }
//        else{
//            move_dist = message[1];
//        }
//        move_forward(sensor_data, move_dist * 10);
//    }
//    if(message[0] == 'B' || message[0] == 'b'){
//        if(message[2] != 0){
//             move_dist = ((message[1] * 10) + message[2]);
//        }
//        else{
//             move_dist = message[1];
//        }
//        move_backward(sensor_data, move_dist * 10);
//    }
//    if(message[0] == 'R' || message[0] == 'r'){
//        if(message[3] != 0){
//            deg = (message[1] * 100) + (message[2] * 10) + message[3];
//        }
//        else if(message[2] != 0){
//            deg = (message[1] * 10) + message[2];
//        }
//        else{
//            deg = message[1];
//        }
//        turn_clockwise(sensor_data, deg);
//        sprintf(uartStr, "%d turn to the right complete", deg);
//        uart_sendStr(uartStr);
//    }
//    if(message[0] == 'L' || message[0] == 'l'){
//        if(message[3] != 0){
//            deg = (message[1] * 100) + (message[2] * 10) + message[3];
//        }
//        else if(message[2] != 0){
//            deg = (message[1] * 10) + message[2];
//        }
//        else{
//            deg = message[1];
//        }
//        turn_counterClockwise(sensor_data, deg);
//        sprintf(uartStr, "%d turn to the left complete", deg);
//        uart_sendStr(uartStr);
//    }
//    if(message[0] == 'S' || message[0] == 's'){
//        if(message[1] == 'R' || message[1] == 'r'){
//            raw = 1;
//            if(message[4] != 0){
//                deg = (message[2] * 100) + (message[3] * 10) + message[4];
//            }
//            else{
//                deg = (message[2] * 10) + message[3];
//            }
//            scan(raw, deg); // return raw data
//        }
//        else{
//            if(message[3] != 0){
//                deg = (message[1] * 100) + (message[2] * 10) + message[3];
//            }
//            else{
//                deg = (message[1] * 10) + message[2];
//            }
//            scan(raw, deg);//return info about objects
//            raw = 0;
//        }
//    }
//    for(i = 0; i < 5; i++){
//                 message[i] = 0;
//    }
//    command = 0;
//  }
//  }
//}
//