/*
 * Mechanisms and Movement
 *
 * A device that uses two forms of mechanical movement,
 * driven by a DC motor:
 * it translates rotary motion (DC motor)
 * to a rocking motion (4-bar linkage)
 * to intermittent motion (dowel on pivot)
 *
 *
 * Created by Corinna Sherman
 * October 10, 2010
 */

int enableSwitchPin = 8; // enable switch input pin to turn device ON/OFF
int enablePin1 = 9;   // H-bridge enable pin 1 (1,2EN)
int motorPin1 = 3; // motor 1 logic pin 1 on H-bridge (1A)
int motorPin2 = 5; // motor 1 logic pin 2 on H-bridge (2A)

void setup() {

  // Initialize serial communication.
  Serial.begin(9600);

  // Set enable switch pin and touch sensor pins as input pins.
  pinMode(enableSwitchPin, INPUT);

  // Set other pins as output pins.
  pinMode(enablePin1, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);

  // Go forward by default.
  goForward();
}

void loop() {

  // If the switch is on, the motor turns in one direction.
  if (digitalRead(enableSwitchPin) == HIGH) {
    // Set enablePins to HIGH to turn on both motors.
    Serial.println("go");
    enable();
  }
  else {
    Serial.println("stop");
    disable();
  }

}

void enable() {
  // Set enablePins to HIGH to turn on both motors.
  digitalWrite(enablePin1, HIGH);
}

void disable() {
  // Set enablePins to LOW to turn off both motors.
  digitalWrite(enablePin1, LOW);
}

void goForward() {
  // Set motor's direction
  digitalWrite(motorPin1, LOW); // Set H-bridge 1A pin to low
  digitalWrite(motorPin2, HIGH); // Set H-bridge 2A pin to high
}

void goBackward() {
  // Set motor's direction
  digitalWrite(motorPin1, HIGH); // Set H-bridge 1A pin to high
  digitalWrite(motorPin2, LOW); // Set H-bridge 2A pin to low
}