#include <Bounce2.h>
int function = 0;
bool triggerStart = false;   //trigger to start motor
bool triggerStop = false;   // trigger to stop motor
bool goRight = false;
bool goLeft = false;
bool isTime = false;

const byte m1 = 4;
const byte m2 = 3;
const byte s1 = 7;
const byte s2 = 8;
const byte trigger = 11;
bool s1State;
bool s2State;
bool triggerState;
bool prevS1State = 0;
bool prevS2State = 0;
bool startMotor = 0;

bool wasGoingLeft;
bool wasGoingRight;
bool motorStopped;

bool high = LOW; //since switches are inverted. when its low. it will be high
bool low = HIGH;

Bounce debouncer1 = Bounce();
Bounce debouncer2 = Bounce();
Bounce debouncer3 = Bounce();  //trigger for motor

void setup() {
  // put your setup code here, to run once

  pinMode(m1, OUTPUT);
  pinMode(m2, OUTPUT);

  pinMode(s1, INPUT_PULLUP);
  debouncer1.attach(s1);
  debouncer1.interval(25);

  pinMode(s2, INPUT_PULLUP);
  debouncer2.attach(s2);
  debouncer2.interval(25);

  pinMode(trigger, INPUT_PULLUP);
  debouncer3.attach(trigger);
  debouncer3.interval(25);

  Serial.begin(9600);
  //assuming motor is already one one junction
   Serial.println("Incubator starting. motor is now at rest");

  delay(2000);


}

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

  bool m1State = digitalRead(m1);
  bool m2State = digitalRead(m2);

  debouncer1.update();
  debouncer2.update();
  debouncer3.update();

  triggerState = debouncer3.read(); //trigger
  s1State = debouncer1.read();   //switch are input pullup. high state is zero
  s2State = debouncer2.read();
  //startMotor = 0;   //turn off this trigger in order to not loop back.


 if(debouncer3.fell()) //when trigger button is pressed
   {
    startMotor = true;
    Serial.println("button to trigger start motor has been presssed");
   }

 if(startMotor == 1)
   {
    switch(function)
    {
    case 0:   //checks if time
      isTime = 1;
      function = 1;
      Serial.println("At case 0. checking if its time");


    break;

    case 1:   //its time so its going to determine where it is
    if(isTime == 1)
    {
      Serial.println("trigger is pressed proceeding to case 1");
      if(s1State == 1 && s2State == 0)   //if one of the switch is high. label is left
      {

        goRight =1;   //its left right now. so need to go right
        goLeft = 0;
        Serial.println("At case 1. determind motor is towards left and going right now");
        function = 2;
      }
      if(s1State == 0 && s2State == 1)  //if one of the switch is high. label is right
      {
        goLeft = 1;    //is at right. go left
        goRight = 0;
        Serial.println("At case 1. determind motor is towards right and going left now");
        function = 2;
      }
    }
    break;

    case 2:    //once direction to go is determined. go that way
    if(goRight== 1)   //at s1  or left
    {
      Serial.println("At case 2. Going Right");
      digitalWrite(m1, HIGH);
      digitalWrite(m2, LOW);
      function = 3;

    }
    if(goLeft == 1)    //at s2 or right
    {
      Serial.println("At case 2. Going left");
      digitalWrite(m1, LOW);
      digitalWrite(m2, HIGH);
      function = 3;
    }
    break;




    case 3:    //going to check if the motor has reached the desired switch yet
    if(goRight == 1)   //if motor is going towards right so we are going to monitor the right switch only
    {
      if(s2State == 1)     //go right until s2 has become high
      {
        digitalWrite(m1, LOW);
        digitalWrite(m2, LOW);
        Serial.println("case 3. Motor reached right. motor stopping");
        //stop motor
        function = 4;
      }
    }

    if(goLeft == 1)  //if motor is going left
    {
      if(s1State == 0) //check to see if left switch is touched
      {
        digitalWrite(m1, LOW);
        digitalWrite(m2, LOW);
        Serial.println("At case 3.motor has reached left. Motor stopping");

        function = 4;

      }
    }
    break;

    case 4:
    Serial.print("At case 4.motor should have stopped. pressing the trigger will repeat the cycle");
    Serial.println("exiting the switch case and waiting for the trigger");
    isTime = 0;
    function = 0;
    break;
  }
}
}