#include <Arduino.h>
#include <U8g2lib.h>
#include <Wire.h>

#define joyStickY A1
#define joyStickX A0
#define motorDriver1 10//PWMピン
#define motorDriver2 9//PWMピン
#define sensorPin 7

//ポーリング用
unsigned long lastupdate = 0;
unsigned long lastupdata = 0;

//カウンタ用
volatile int count = 0;
int dir = 0;

U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);


void setup() {
  Serial.begin(115200);//デバッグ用
  u8g2.begin();
  u8g2.clearBuffer();                   // clear the internal memory
  u8g2.setFont(u8g2_font_logisoso20_tr);    // choose a suitable font
  u8g2.drawStr(0,10,"Hello World!");    // write something to the internal memory
  u8g2.sendBuffer();                    // transfer internal memory to the display
  //割り込み開始
  attachInterrupt(digitalPinToInterrupt(sensorPin), counter, RISING);
  //pinMode(motorDriver1, OUTPUT);
  //pinMode(motorDriver2, OUTPUT);
  //TCCR1A = 0b00000001;
  //TCCR1B = 0b00000001;

}

void loop() {
  //前回実行時の時間を今の時間と比較
  if (lastupdate + 200 <= millis()) {
    lastupdate = millis();//次の実行のために時間更新
    int sensor = analogRead(joyStickY);
    int out = map(sensor, 0, 1023, -255, 255);
    motor(out);//モーター用関数を読み出す
    //Serial.println(out);
  }
  /*if (lastupdata + 200 <= millis()) {
    lastupdata = millis();//次の実行のために時間更新
    //lcd();
  }*/
}

//モーター用関数
void motor(int output) {
  if (output > 0) {
    analogWrite(motorDriver1, output);
    analogWrite(motorDriver2, 0);
    dir = 1;
  } else if (output <= 0) {
    analogWrite(motorDriver1, 0);
    analogWrite(motorDriver2, output * -1);
    dir = -1;
  }
}

void counter() {
  count = count + 1 * dir;
}

void lcd() {
  u8g2.clearBuffer();          // clear the internal memory
  u8g2.setFont(u8g2_font_logisoso20_tr); // choose a suitable font
  u8g2.setCursor(0,20);
  u8g2.print(count);
  u8g2.setCursor(0,40);
  u8g2.print(dir);
  u8g2.sendBuffer();          // transfer internal memory to the displa
}