#include <AFMotor.h>
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

#define enA 5   // Note: Pin 9 in previous video ( pin 10 is used for the SPI communication of the NRF24L01)
#define in1 3
#define in2 4
#define enB 6   // Note:  Pin 10 in previous video
#define in3 7
#define in4 8

// Create one motor instance
AF_DCMotor motor1(1,MOTOR12_64KHZ); // set up motors.
AF_DCMotor motor2(2, MOTOR12_8KHZ);

RF24 radio(7,8);   // nRF24L01 (CE, CSN)
const byte address[6] = "00001";
unsigned long lastReceiveTime = 0;
unsigned long currentTime = 0;

// Max size of this struct is 32 bytes
struct Data_Package {
  byte j1PotX;
  byte j1PotY;
  byte j2PotX;
  byte j2PotY;
  byte button1;
  byte button2;
  byte button3;
  byte button4;
};

Data_Package data; //Create a variable with the above structure
void setup() {

  Serial.begin(115200);
  Serial.println("receiver");
  radio.begin();
  radio.openReadingPipe(0, address);
  radio.setAutoAck(false);
  radio.setPALevel(RF24_PA_LOW);
  radio.startListening(); //  Set the module as receiver

}
void loop() {
  if (radio.available()) {
    radio.read(&data, sizeof(Data_Package));
    printdata();
   }

  int btnState1 = data.button1;
  int btnState2 = data.button2;
int forward_back = map(data.j1PotY, 0, 1023, -128, 127);
  int left_right = map(data.j2PotX, 0, 1023, -128, 127);
int left_motor = (forward_back + left_right);
int right_motor = (forward_back - left_right);

// Scale factor defaults to 1

int scale_factor = 1;

// Calculate scale factor

if (abs(left_motor) > 100 or abs(right_motor) > 100) {

    // Find highest of the 2 values, since both could be above 100

   int x = max(abs(left_motor), abs(right_motor));

    // Calculate scale factor

    int scale_factor = 100.0 / x;
}
// Use scale factor, and turn values back into integers

left_motor = round(left_motor * scale_factor);
right_motor = round(right_motor * scale_factor);
motor1.setSpeed(left_motor);
motor2.setSpeed(right_motor);

// Actually move the motors

if (forward_back < 0) {
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
}
  else {
    motor1.run(FORWARD);
  motor2.run(FORWARD);
  }


 /* int CurrentTime = millis();

 int  motorspeed = constrain(motorspeed, 0, 255);
   motor1.setSpeed(motorspeed);
    motor2.setSpeed(motorspeed);
  if (btnState1 == 1) {
   int buttonpressed = millis();
    motorspeed = round((buttonpressed - CurrentTime) * .1);
     motor1.run(FORWARD);
  motor2.run(FORWARD);
  }

  if (btnState2 == 1){

 int button2pressed = millis();
  motorspeed = round((button2pressed - CurrentTime) * .1);
    motor1.run(BACKWARD);
  motor2.run(BACKWARD);
}
  else {

    motorspeed = 0;
  }

   */

}

void printdata() {

  Serial.println(data.j1PotX);

}

void resetData() {
  // Reset the values when there is no radio connection - Set initial default values
  data.j1PotX = 127;
  data.j1PotY = 127;
  data.j2PotX = 127;
  data.j2PotY = 127;
  data.button1 = 1;
  data.button2 = 1;
  data.button3 = 1;
  data.button4 = 1;
}