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/*
   April 4, 2019
   Reddit motor + servo driver with buttons for each
   Board = Uno

   This sketch has two buttons.
   The buttons are set to function so that they will ONLY change when going from the unpressed-to-pressed state.

   One button turns a DC motor on and off, and the other button turns a servo on and off.
   When the servo is on, it moves back and forth between two settings.

*/

bool use_servo_change_messages = true; // This sketch prints some serial messages for testing purposes.
// The servo will print a message when it changes value and when it reverses.
// If the serial messages causes the servo to run jittery then you can turn those serial messages off by setting this value to false.
// The other serial messages don't turn off but they should not cause any issues.

int dc_motor_button_pin = 7; // This is where the button for the DC motor is connected.
int servo_button_pin = 8; // This is where the button for the servo is connected.
// Both above pins are using INPUT_PULLUP, so they should connect to a ground pin when pressed.

int dc_motor_pin = 3; // The digital output to the DC motor controller is connected here.
int servo_pin = 5; // The servo control pin is connected here.

int servo_interval_time = 350; // This is the time interval that the servo will change at, in milliseconds.
int servo_change_value = 10; // This is the amount that the servo position will change, at each servo_interval_time interval.
int servo_current_value = 30; // This is the starting point for the servo. It should be a number between the minimum and maximum servo values below.
int servo_minimum_value = 30; // This is the low end of where you want the servo to stop at. Zero is the lowest value you can put here.
int servo_maximum_value = 200; // This is the high end of where you want the servo to stop at. 255 is the highest value you can put here.
int servo_direction = 1; // This variable will flip back and forth between 1 and -1.
// Setting it to 1 will make the servo begin by turning upwards (in position value) and setting it to -1 will make the servo begin by turning downwards.

int button_debounce_time = 300; // This is to prevent the buttons from bouncing.

// The variables above, you can change the values of.
// @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
// The variables below, do not change the values of.

int dc_motor_button_previous_state = 0;
int dc_motor_button_current_state = 0;
int servo_button_previous_state = 0;
int servo_button_current_state = 0;
bool buttons_enabled = true;
unsigned long button_press_begin_time = 0;
unsigned long button_press_current_time = 0;
int dc_motor_enabled = 0;
int servo_enabled = 0;
bool servo_interval_enabled = true;
unsigned long servo_interval_begin_time = 0;
unsigned long servo_interval_current_time = 0;


void setup() {
  Serial.begin(9600);
  pinMode(dc_motor_button_pin, INPUT_PULLUP);
  pinMode(servo_button_pin, INPUT_PULLUP);

  analogWrite(servo_pin, servo_current_value); // This causes the servo to immediately go to its initial position.

  pinMode(dc_motor_pin, OUTPUT);
  digitalWrite(dc_motor_pin, LOW);
  Serial.println("Exiting setup()");
}


void loop() {
  if (buttons_enabled == true) {

    dc_motor_button_current_state = 0;
    if (digitalRead(dc_motor_button_pin) == LOW) {
      dc_motor_button_current_state = 1;
    }

    if (dc_motor_button_previous_state != dc_motor_button_current_state) {
      button_pressed();
    }

    if (dc_motor_button_previous_state == 0) {
      if (dc_motor_button_current_state == 1) {
        if (dc_motor_enabled == 1) {
          dc_motor_enabled = 0;
          Serial.println("DC motor = OFF");
        }
        else {
          dc_motor_enabled = 1;
          Serial.println("DC motor = ON");
        }
        digitalWrite(dc_motor_pin, dc_motor_enabled);
        //button_pressed();
      }
    }
    dc_motor_button_previous_state = dc_motor_button_current_state;

    servo_button_current_state = 0;
    if (digitalRead(servo_button_pin) == LOW) {
      servo_button_current_state = 1;
    }
    if (servo_button_previous_state != servo_button_current_state) {
      button_pressed();
    }
    if (servo_button_previous_state == 0) {
      if (servo_button_current_state == 1) {
        if (servo_enabled == 1) {
          servo_enabled = 0;
          Serial.println("servo = OFF");
        }
        else {
          servo_enabled = 1;
          Serial.println("servo = ON");
        }
        //button_pressed();
      }
    }
    servo_button_previous_state = servo_button_current_state;
  }
  else {
    button_press_current_time = millis();
    if (button_press_current_time > button_press_begin_time) {
      if (button_press_current_time >= (button_press_begin_time + button_debounce_time)) {
        buttons_enabled = true;
      }
    }
    else {
      button_press_begin_time = millis();
    }
  }

  if (servo_enabled == 1) {
    if (servo_interval_enabled == true) {
      change_servo_value(servo_change_value, servo_direction);
      check_current_servo_value();
      analogWrite(servo_pin, servo_current_value);
      if (use_servo_change_messages == true) {
        Serial.print("servo value = ");
        Serial.println(servo_current_value);
      }
      servo_interval_begin_time = millis();
      servo_interval_enabled = false;
    }
    else {
      servo_interval_current_time = millis();
      if (servo_interval_current_time >= servo_interval_begin_time) {
        if (servo_interval_current_time >= (servo_interval_begin_time + servo_interval_time)) {
          servo_interval_enabled = true;
        }
      }
      else {
        servo_interval_begin_time = millis();
      }
    }
  }
} // end of main loop()


void button_pressed() {
  buttons_enabled = false;
  button_press_begin_time = millis();
}


void change_servo_value(int changeValue, int servoDirection) {
  // This changes the servo value up or down, depending on if servoDirection is 1 or -1.
  servo_current_value = servo_current_value + (changeValue * servoDirection);
}


void check_current_servo_value() {
  // This prevents the servo from turning past the minimum and maximum values,
  // and changes the direction when it hits either of the end values.
  if (servo_current_value <= servo_minimum_value) {
    servo_current_value = servo_minimum_value;
    flip_servo_direction();
  }
  if (servo_current_value >= servo_maximum_value) {
    servo_current_value = servo_maximum_value;
    flip_servo_direction();
  }
}

void flip_servo_direction() {
  // Because the direction control value is 1 or -1, you can change it to the "other" value just by multiplying it by -1.
  servo_direction = servo_direction * -1;
  if (use_servo_change_messages == true) {
    Serial.println("servo = reversing");
  }
}