#include <Servo.h>
#include <ALLBOT.h>

ALLBOT AURA(8);  //number of motors

enum MotorName {
  hipFrontLeft,
  hipFrontRight,
  hipRearLeft,
  hipRearRight,
  kneeFrontLeft,
  kneeFrontRight,
  kneeRearLeft,
  kneeRearRight
};

// where is this pin??
int sounderPin = 13;

void chirp(int beeps, int speedms){
  for (int i = 0; i < beeps; i++){
    for (int i = 0; i < 255; i++){
      digitalWrite(sounderPin, HIGH);
      delayMicroseconds((355-i) +  (speedms*2));
      digitalWrite(sounderPin, LOW);
      delayMicroseconds((355-i) +  (speedms*2));
    }
     delay(30);
  }
}

void chorp(int beeps, int speedms){
  for (int i = 0; i < beeps; i++){
    for (int i = 100; i < 255; i++){
      digitalWrite(sounderPin, HIGH);
      delayMicroseconds((355-i) +  (speedms));
      digitalWrite(sounderPin, LOW);
      delayMicroseconds((355-i) +  (speedms));
    }
    for (int i = 510; i > 0; i--){
      digitalWrite(sounderPin, HIGH);
      delayMicroseconds((710-i) +  (speedms*2));
      digitalWrite(sounderPin, LOW);
      delayMicroseconds((710-i) +  (speedms*20));
    }
     delay(30);
  }
}

void setup() {

  Serial.begin(9600);

  // NAME.attach(motorname, pin, init-angle, flipped, offset-angle);
  AURA.attach(hipFrontLeft,   A1,  45, 0, 0);
  AURA.attach(hipFrontRight,  A0,  45, 1, 0);
  AURA.attach(hipRearLeft,     9,  45, 1, 0);
  AURA.attach(hipRearRight,    4,  45, 0, 0);
//
  AURA.attach(kneeFrontLeft,  11,  45, 1, 0);
  AURA.attach(kneeFrontRight,  2,  45, 0, 0);
  AURA.attach(kneeRearLeft,   10,  45, 1, 0);
  AURA.attach(kneeRearRight,   3,  45, 0, 0);

  // what is OUTPUT ??
  // INIT sounder
  pinMode(sounderPin, OUTPUT);

  delay(500);

  chirp(1, 0);
  chorp(1, 35);
  // chirp(1, 255);
  // chirp(3, 0);
}

void loop() {
  // put your main code here, to run repeatedly:

}