% Delete Opened Ports in MATLAB
clear all;
clc;

delete(instrfind)

ser = serial('COM9', 'BaudRate',115200, 'Timeout',10);
syms right;
syms left;
syms stan;
stan = 1;
syms i;
syms iPuls;
 volume = 0;
fopen(ser);
i=0;
tim = 0;
actval=0;
tim2 = 0;
while true
    d = fscanf(ser, '%d %d %d');
    value1 = d(1,:);
    value2 = d(2,:);
    value3 = d(3,:);

   fprintf("%d\t%d\t%d\t%d\t%d\t%d\r\n", value1,value3,stan,volume,i,tim);


%stan 1
%%%%%oczekiwanie na ruch
if(value1<600 && value3>600 && stan == 1)
            stan = 2;
            tim = i;
            tim2 = i;
        elseif(value1>600 && value3<600 && stan == 1)
           stan = 3;
           tim=i;
           tim2 = i;
end
%stan 2

if((value1<400 || value3<400) && stan == 2 && (i-tim)>30)
            stan = 6;
        elseif(value1>600 && value3<600 && (i-tim2) < 20 && stan == 2)
            stan = 4;
        elseif(value1>600 && (i-tim2) > 20 && stan == 2)
            stan = 1;

end
%stan 3
if((value1<600 || value3<600) && stan == 3 && (i-tim)>30)
            stan = 6;
        elseif(value1<600 && value3>600 && (i-tim2) < 20 && stan == 3)
            stan = 5;
        elseif(value3>600 && (i-tim2) > 20 && stan == 3)
            stan = 1;
end
%stan 4
%%%%przewiniecie w prawo
if(stan==4)
        system('nircmd.exe sendkey 176 press');
        if(value1>600 && value3>600 && stan == 4)
            stan = 1;
        end
end

%stan 5
if(stan == 5)
    %%%przewinięcie w lewo

        system('nircmd.exe sendkey 177 press');
end
        if(value1>600 && value3>600 && stan == 5)
            stan = 1;
        end


if(stan == 6)

       volume = (value2 / 4) * 1000;
       volume = floor(volume);

               if(value2>600 || (actval-value2)>1000)
            stan = 1;
               else
      system(sprintf('nircmd.exe setsysvolume %d',volume));
       end

        actval=value2;
end
pause(10/1000);
i = i+1;

    plot(d, 'LineWidth',2,'Color',[0,0,1.0])
       ylim([0,4000])

      drawnow
end


    fclose(ser);