#include <Otto.h>
Otto Otto;
#include <IRremote.h>


IRrecv ir_rx(2);
decode_results ir_rx_results;

unsigned long fnc_ir_rx_decode()
 {
  bool decoded=false;
  if( ir_rx.decode(&ir_rx_results))
	{
		decoded=true;
		ir_rx.resume();
	}
	if(decoded)
		return ir_rx_results.value;
	else
		return 0;
 }


#define LeftLeg 2 // left leg pin, servo[0]
#define RightLeg 3 // right leg pin, servo[1]
#define LeftFoot 4 // left foot pin, servo[2]
#define RightFoot 5 // right foot pin, servo[3]
#define Buzzer 13 //buzzer pin

#include <EnableInterrupt.h>

#define Timeout 500
#define Shift 8
unsigned long time, dtime,timeout_mark;
unsigned long res = 0;
unsigned long Button_ID = 0;
unsigned int buf = 0;
byte impuls = 1;
byte Channl_ID = 1;
byte Button_en = 0;
byte state = 0;
byte Channl_buf = 0;
// Return if the key was pressed
bool RC(long BT_ID)
{
  if (Timeout < millis() - timeout_mark)
   Button_ID = 0x733;
  if (BT_ID == Button_ID)
    return 1;
  return 0;
}

//Configuration Remote Control

void IRRC_setup(int pin, uint8_t Channl)
{

  pinMode(pin, INPUT);     //set the pin to input
  digitalWrite(pin, HIGH); //use the internal pullup resistor

  time = micros();

  enableInterrupt(pin, change, CHANGE);

 switch ( Channl )
  {
    case 1:
   Channl_ID = 0xFC;
    return;
    case 2:
    Channl_ID = 0x3C;
    return;
    case 3:
    Channl_ID = 0xCC;
    return;
    case 4:
    Channl_ID = 0x0C;
    return;
    case 5:
    Channl_ID = 0xF0;
    return;
    case 6:
    Channl_ID = 0x30;
    return;
    case 7:
    Channl_ID = 0xC0;
    return;
    case 8:
    Channl_ID = 0x00;
    return;
       //default:
  }
}

//Interrupt function
void change()
{

  dtime = micros();
  buf = dtime - time ;
  time = dtime;

  //procesar la duración del pulso (200 redondeando hacia arriba con buf% 200> 101 y (o) si el pulso es <101 asignación de una sola longitud)
  if (buf % 200 > 101)
  {
    buf = (buf / 200) + 1;
  }
  else
  {
    buf = buf / 200;
  }
  if (buf == 0) buf = 1;

  if (state == 0) // Initial state
  {
      if (!impuls) //Checking the first bits (000)
      {
        state++;
        res = 0;
        res = res << buf;
        //Serial.println("Start");
      }
  } else {
    if (impuls)
    {
      res = res << buf;
      for (int i = 0; i < buf ; i++)
     {
        res |= 1 << i ;
      }
    }else{
      res = res << buf;

      if ((byte)(res & 0x7F) == 0x38)
      {
        buf = 1;
        for (int i = 1; i < Shift; i ++)
          buf = (buf << 1) + 1;

        Channl_buf = (res >> 6) & buf ;

        if (Channl_buf == Channl_ID)
        {
          Button_ID = res >> (6+Shift);
          while(!(Button_ID & 1)) Button_ID = Button_ID >> 1;
          timeout_mark = millis();
              //Serial.println (Button_ID, HEX);
        }
        state = 0;
        res = 0;
      }
    }
  }
  impuls = !impuls;
}


void setup() {
  Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer);
Otto.home();

  ir_rx.enableIRIn();

    IRRC_setup(2,1);

}

void loop() {
    if ((unsigned long)fnc_ir_rx_decode() & (0x00FF629D)) {
      Otto.walk(1,1000,1); // FORWARD
    }
    if ((unsigned long)fnc_ir_rx_decode() & (0x00FFA857)) {
      Otto.walk(1,1000,-1); // BACKWARD
    }
    if ((unsigned long)fnc_ir_rx_decode() & (0x00FF22DD)) {
      Otto.turn(1,1000,1); // LEFT
    }
    if ((unsigned long)fnc_ir_rx_decode() & (0x00FFC23D)) {
      Otto.turn(1,1000,-1); // RIGHT
    }
    if ((unsigned long)fnc_ir_rx_decode() & (0x00FFC23D)) {
      Otto.turn(1,1000,-1); // RIGHT
    }

}