//Switch pressed ->  reading HIGH
//Switch not pressed -> reading LOW
//Motor direction 0 is down, 1 is up

const int uplimit =32;
const int downlimit =34;
const int motorspeed=9;
const int motordirection=28;
//const int pumpspeed=5;
//const int pumpdirection=6;
const int motorenable=26;
//const int pumpenable=;
int Finishedcleaning=0;
int Reachedup=0;
int Motorinitialsetup=0;
int Motorsecondsetup=0;
int downfiltered=0;
int upfiltered=0;
void setup() {
  // put your setup code here, to run once:

  pinMode(motorspeed, OUTPUT);
  pinMode(motordirection, OUTPUT);
  pinMode(motorenable, OUTPUT);
  //pinMode(pumpspeed, OUTPUT);
   //pinMode(pumpenable, OUTPUT);
  pinMode(uplimit, INPUT);
   pinMode(downlimit, INPUT);

}

void loop() {
 // put your main code here, to run repeatedly:
int average1=0;
int average2=0;
  if (Motorinitialsetup==0 ) // to be run before hitting initial switch
     {digitalWrite(motorenable,HIGH);
      analogWrite(motorspeed,190);
      digitalWrite(motordirection,0);// Bring motor down
    //   digitalWrite(pumpenable,HIGH);
      //  digitalWrite(pumpdirection,1);
      // analogWrite(pumpspeed,240);
      Motorinitialsetup=1;//so this if statement does not run again

                            }

  for (int i=1;i<100;i++)
  {downfiltered=digitalRead(downlimit);
  average1=average1+downfiltered;
                        }
average1=average1/100;

     if ((average1>0.9) && Finishedcleaning==0 ) // Function after hitting down switch
     {
      delay(1000); // wait until motor cross switch
        analogWrite(motorspeed,0);// stop motor
           Finishedcleaning=1; //indicate cleaning is over for next loop
          delay(500); // wait until motor cross switch
     }

    if ( (Finishedcleaning==1) &&   (Reachedup==0)  && (Motorsecondsetup==0))
    {
         digitalWrite(motordirection,1);// reverse motor direction
         analogWrite(motorspeed,190);// start motor again
          Motorsecondsetup=1;
      }


if( Motorsecondsetup==1) // only checks switch up switch after motors comes back
{

  for (int i=1;i<100;i++)
  {upfiltered=digitalRead(downlimit);
  average2=average2+downfiltered;

  }   }

     average2=average2/100;

if ((average2>0.9) && (Finishedcleaning==1)) // Stop Motor after returning
    { analogWrite(motorspeed,0);
      delay(1000);
     Reachedup=1;// indicate finished returning after cleaning cycle
    }}