#include <Servo.h>
 
#define pinForward 8    
#define pinBack 7      
#define pinSpeedForwardBack 6
#define pinFrontLights 2
#define pinBackLights 3
#define pinFrontSteering 10
 
// Pin definitions for L293D motor driver
#define ENA 6   // Enable pin for motor A (connected to pin 6 for speed control)
#define IN1 8   // Input 1 for motor A (connected to pin 8 for direction control)
#define IN2 7   // Input 2 for motor A (connected to pin 7 for direction control)
 
// Pin definitions for turn indicator LEDs
#define pinLeftTurnLED 4
#define pinRightTurnLED 5
 
// Pin definition for Bluetooth status LED
#define pinBluetoothStatusLED 9
 
Servo leftRight;
byte commands[4] = {0x00, 0x00, 0x00, 0x00};
byte prevCommands[4] = {0x01, 0x01, 0x01, 0x01};
 
unsigned long timer0 = 2000;  // Stores the time (in millis since execution started)
unsigned long timer1 = 0;     // Stores the time when the last sensor reading was sent to the phone
unsigned long timer2 = 0;     // Stores the time when the last command was received from the phone
unsigned long leftBlinkTimer = 0;
unsigned long rightBlinkTimer = 0;
unsigned long blinkInterval = 500;  // Interval at which to blink the LEDs (in milliseconds)
bool leftLEDState = LOW;
bool rightLEDState = LOW;
 
float stepSize = 9.04;
 
void setup() {      
  Serial.begin(115200); 
  pinMode(pinFrontLights, OUTPUT);
  pinMode(pinBackLights, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(pinLeftTurnLED, OUTPUT);
  pinMode(pinRightTurnLED, OUTPUT);
  pinMode(pinBluetoothStatusLED, OUTPUT);
  leftRight.attach(pinFrontSteering);
}
 
void loop() {
  unsigned long currentMillis = millis();
 
  if (Serial.available() == 4) {
    timer2 = currentMillis;  // Store the time when the last command was received
    memcpy(prevCommands, commands, 4);  // Storing the received commands  
    commands[0] = Serial.read();  // Direction
    commands[1] = Serial.read();  // Speed
    commands[2] = Serial.read();  // Angle
    commands[3] = Serial.read();  // Lights and buttons states
 
    digitalWrite(pinBluetoothStatusLED, HIGH); // Turn on Bluetooth status LED when command is received
 
    if ((commands[2] <= 0xb4) && ((commands[0] <= 0xf5) && (commands[0] >= 0xf1))) {
      if (commands[0] <= 0xf3) {
        if (commands[0] == 0xf1) {  // Check if the move forward command was received
          if (prevCommands[0] != 0xf1) {  // Change pin state to move forward only if previous state was not move forward
            moveForward(commands[1]);
          } 
        } else if (commands[0] == 0xf2) {  // Check if the move back command was received    
          if (prevCommands[0] != 0xf2) {  // Change pin state to move back only if previous state was not move back
            moveBackward(commands[1]);
          }
        } else {  // Check if the stop command was received   
          if (prevCommands[0] != 0xf3) {  // Change pin state to stop only if previous state was not stop
            stopMotor();
          }
        }
        if (prevCommands[1] != commands[1]) {
          setMotorSpeed(commands[1]);  // Change speed only if new speed is not equal to the previous speed
        }         
        if (prevCommands[2] != commands[2]) {
          leftRight.write(commands[2]);  // Steer front wheels only if the new angle is not equal to the previous angle
 
          // Check for left or right turn
          if (commands[2] < 90) {  // Assuming <90 is a left turn
            leftBlinkTimer = currentMillis;
          } else if (commands[2] > 90) {  // Assuming >90 is a right turn
            rightBlinkTimer = currentMillis;
          }
        }        
      } else if (commands[0] == 0xf5) {
        if (prevCommands[0] != 0xf5) {
          stopMotor();
          digitalWrite(pinFrontLights, LOW);
          digitalWrite(pinBackLights, LOW);
        }
      }
      // Check the front/back lights and other toggles  
      if (prevCommands[3] != commands[3]) {
        // Change the light/button states
        if ((bitRead(prevCommands[3], 7)) != (bitRead(commands[3], 7))) {
          digitalWrite(pinFrontLights, bitRead(commands[3], 7));
        }
        if ((bitRead(prevCommands[3], 6)) != (bitRead(commands[3], 6))) {
          digitalWrite(pinBackLights, bitRead(commands[3], 6));
        }
        if ((bitRead(prevCommands[3], 5)) != (bitRead(commands[3], 5))) {
          digitalWrite(pinFrontLights, bitRead(commands[3], 5));
        }
      }     
    } else {
      Serial.end();
      Serial.begin(115200);
    }
  } else {
    timer0 = currentMillis;
    if ((timer0 - timer2) > 400) {
      stopMotor();
      digitalWrite(pinFrontLights, LOW);
      digitalWrite(pinBackLights, LOW);
      digitalWrite(pinBluetoothStatusLED, LOW); // Turn off Bluetooth status LED if no command received for 400ms
    }
  }
 
  // Handle LED blinking for left turn
  if (currentMillis - leftBlinkTimer < 1000) {  // LED blinks for 1 second after turning left
    if (currentMillis - leftBlinkTimer >= blinkInterval) {
      leftLEDState = !leftLEDState;  // Toggle LED state
      digitalWrite(pinLeftTurnLED, leftLEDState);
      leftBlinkTimer = currentMillis;
    }
  } else {
    digitalWrite(pinLeftTurnLED, LOW);  // Turn off the LED after 1 second
  }
 
  // Handle LED blinking for right turn
  if (currentMillis - rightBlinkTimer < 1000) {  // LED blinks for 1 second after turning right
    if (currentMillis - rightBlinkTimer >= blinkInterval) {
      rightLEDState = !rightLEDState;  // Toggle LED state
      digitalWrite(pinRightTurnLED, rightLEDState);
      rightBlinkTimer = currentMillis;
    }
  } else {
    digitalWrite(pinRightTurnLED, LOW);  // Turn off the LED after 1 second
  }
}
 
void moveForward(int speed) {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  analogWrite(ENA, speed);
}
 
void moveBackward(int speed) {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  analogWrite(ENA, speed);
}
 
void stopMotor() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  analogWrite(ENA, 0);
}
 
void setMotorSpeed(int speed) {
  analogWrite(ENA, speed);
}

#include <Servo.h>

#define pinForward 8    
#define pinBack 7      
#define pinSpeedForwardBack 6
#define pinFrontLights 2
#define pinBackLights 3
#define pinFrontSteering 10

// Pin definitions for L293D motor driver
#define ENA 6   // Enable pin for motor A (connected to pin 6 for speed control)
#define IN1 8   // Input 1 for motor A (connected to pin 8 for direction control)
#define IN2 7   // Input 2 for motor A (connected to pin 7 for direction control)

// Pin definitions for turn indicator LEDs
#define pinLeftTurnLED 4
#define pinRightTurnLED 5

// Pin definition for Bluetooth status LED
#define pinBluetoothStatusLED 9

Servo leftRight;
byte commands[4] = {0x00, 0x00, 0x00, 0x00};
byte prevCommands[4] = {0x01, 0x01, 0x01, 0x01};

unsigned long timer0 = 2000;  // Stores the time (in millis since execution started)
unsigned long timer1 = 0;     // Stores the time when the last sensor reading was sent to the phone
unsigned long timer2 = 0;     // Stores the time when the last command was received from the phone
unsigned long leftBlinkTimer = 0;
unsigned long rightBlinkTimer = 0;
unsigned long blinkInterval = 500;  // Interval at which to blink the LEDs (in milliseconds)
bool leftLEDState = LOW;
bool rightLEDState = LOW;

float stepSize = 9.04;

void setup() {      
  Serial.begin(115200); 
  pinMode(pinFrontLights, OUTPUT);
  pinMode(pinBackLights, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(pinLeftTurnLED, OUTPUT);
  pinMode(pinRightTurnLED, OUTPUT);
  pinMode(pinBluetoothStatusLED, OUTPUT);
  leftRight.attach(pinFrontSteering);
}

void loop() {
  unsigned long currentMillis = millis();
  
  if (Serial.available() == 4) {
    timer2 = currentMillis;  // Store the time when the last command was received
    memcpy(prevCommands, commands, 4);  // Storing the received commands  
    commands[0] = Serial.read();  // Direction
    commands[1] = Serial.read();  // Speed
    commands[2] = Serial.read();  // Angle
    commands[3] = Serial.read();  // Lights and buttons states

    digitalWrite(pinBluetoothStatusLED, HIGH); // Turn on Bluetooth status LED when command is received

    if ((commands[2] <= 0xb4) && ((commands[0] <= 0xf5) && (commands[0] >= 0xf1))) {
      if (commands[0] <= 0xf3) {
        if (commands[0] == 0xf1) {  // Check if the move forward command was received
          if (prevCommands[0] != 0xf1) {  // Change pin state to move forward only if previous state was not move forward
            moveForward(commands[1]);
          } 
        } else if (commands[0] == 0xf2) {  // Check if the move back command was received    
          if (prevCommands[0] != 0xf2) {  // Change pin state to move back only if previous state was not move back
            moveBackward(commands[1]);
          }
        } else {  // Check if the stop command was received   
          if (prevCommands[0] != 0xf3) {  // Change pin state to stop only if previous state was not stop
            stopMotor();
          }
        }
        if (prevCommands[1] != commands[1]) {
          setMotorSpeed(commands[1]);  // Change speed only if new speed is not equal to the previous speed
        }         
        if (prevCommands[2] != commands[2]) {
          leftRight.write(commands[2]);  // Steer front wheels only if the new angle is not equal to the previous angle
          
          // Check for left or right turn
          if (commands[2] < 90) {  // Assuming <90 is a left turn
            leftBlinkTimer = currentMillis;
          } else if (commands[2] > 90) {  // Assuming >90 is a right turn
            rightBlinkTimer = currentMillis;
          }
        }        
      } else if (commands[0] == 0xf5) {
        if (prevCommands[0] != 0xf5) {
          stopMotor();
          digitalWrite(pinFrontLights, LOW);
          digitalWrite(pinBackLights, LOW);
        }
      }
      // Check the front/back lights and other toggles  
      if (prevCommands[3] != commands[3]) {
        // Change the light/button states
        if ((bitRead(prevCommands[3], 7)) != (bitRead(commands[3], 7))) {
          digitalWrite(pinFrontLights, bitRead(commands[3], 7));
        }
        if ((bitRead(prevCommands[3], 6)) != (bitRead(commands[3], 6))) {
          digitalWrite(pinBackLights, bitRead(commands[3], 6));
        }
        if ((bitRead(prevCommands[3], 5)) != (bitRead(commands[3], 5))) {
          digitalWrite(pinFrontLights, bitRead(commands[3], 5));
        }
      }     
    } else {
      Serial.end();
      Serial.begin(115200);
    }
  } else {
    timer0 = currentMillis;
    if ((timer0 - timer2) > 400) {
      stopMotor();
      digitalWrite(pinFrontLights, LOW);
      digitalWrite(pinBackLights, LOW);
      digitalWrite(pinBluetoothStatusLED, LOW); // Turn off Bluetooth status LED if no command received for 400ms
    }
  }

  // Handle LED blinking for left turn
  if (currentMillis - leftBlinkTimer < 1000) {  // LED blinks for 1 second after turning left
    if (currentMillis - leftBlinkTimer >= blinkInterval) {
      leftLEDState = !leftLEDState;  // Toggle LED state
      digitalWrite(pinLeftTurnLED, leftLEDState);
      leftBlinkTimer = currentMillis;
    }
  } else {
    digitalWrite(pinLeftTurnLED, LOW);  // Turn off the LED after 1 second
  }

  // Handle LED blinking for right turn
  if (currentMillis - rightBlinkTimer < 1000) {  // LED blinks for 1 second after turning right
    if (currentMillis - rightBlinkTimer >= blinkInterval) {
      rightLEDState = !rightLEDState;  // Toggle LED state
      digitalWrite(pinRightTurnLED, rightLEDState);
      rightBlinkTimer = currentMillis;
    }
  } else {
    digitalWrite(pinRightTurnLED, LOW);  // Turn off the LED after 1 second
  }
}

void moveForward(int speed) {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  analogWrite(ENA, speed);
}

void moveBackward(int speed) {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  analogWrite(ENA, speed);
}

void stopMotor() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  analogWrite(ENA, 0);
}

void setMotorSpeed(int speed) {
  analogWrite(ENA, speed);
}