//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 < 300; i++)
    { upfiltered = digitalRead(downlimit);
      average2 = average2 + downfiltered;

    }
    average2 = average2 / 300;
    if ((average2 > 0.9) && (Finishedcleaning == 1)) // Stop Motor after returning
    { analogWrite(motorspeed, 0);
      delay(1000);
      Reachedup = 1; // indicate finished returning after cleaning cycle
    }
  }
}