#include "DynamixelSerial.h"

//TLC5940NT pin definitions
#define VPRG 2
#define SIN 11
#define SCLK 13
#define XLAT 4
#define BLANK 5
#define DCPRG 6
#define GSCLK 7

#define LIMIT 80
#define RES 10

#define pin_dinamyxel 3
long int VEL = 500;
int Temperature,Voltage,Position; 

long level[16] = {
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; 
  
float Sensor[4] = { 0, 0, 0, 0}; 
  
const int remap[16] = {
  3,4,5,6,7,8,9,10,11,12,0,1,2,13,14,15}; 
  
float MAX[4] = { 0, 0, 0, 0};
  
#define FREQ 14
#if FREQ > 1
byte int_counter = 0;
#endif


char spi_transfer(volatile byte data)
{
  SPDR = data;                    // Start the transmission
  while (!(SPSR & (1<<SPIF)))     // Wait the end of the transmission
  {
  };
  return SPDR;                    // return the received byte
}

void makemagic(){
  setGreys();       
  feedPorts();
}

void feedPorts() {
  // Clock for TLC5940's PWM
  digitalWrite(BLANK, HIGH);
  digitalWrite(BLANK, LOW);      //=all outputs ON, start PWM cycle
  for (int i=0; i<4096; i++) {
    pulseGSCLK();
  }
}

void pulseGSCLK() {
  //ultra fast pulse trick, using digitalWrite caused flickering
  PORTD |= 0x80 ; // bring pin 7 high, but don't touch any of the other pins in PORTB
  //16 nanosecs is the min pulse width for the 5940, but no pause seems needed here
  PORTD &= 0x7F;  // bring pin 7 low without touching the other pins in PORTB
}

void setGreys() {
  digitalWrite(BLANK, HIGH);
  digitalWrite(XLAT,LOW);
  for(int i = 7; i>=0; i--){
    spi_transfer( (level[2*i+1] & 0x0FF0) >> 4 );
    spi_transfer( ((level[2*i+1] & 0xF) << 4) | ((level[2*i] & 0x0F00) >> 8) );
    spi_transfer( level[2*i] & 0xFF);
  }
  digitalWrite(XLAT,HIGH);
  digitalWrite(XLAT,LOW);
  digitalWrite(BLANK, LOW);
}


void startup(){
  for(byte x = 0; x < 7; ++x){
    led_white(x, 4095);
    delay(1000);
    led_white(x, 0);
  }
}

void led_rgb(long int red, long int green, long int blue){
  level[remap[0]] = red; 
  level[remap[1]] = green; 
  level[remap[2]] = blue; 
}

void led_white(byte pin, long int intensity){
  level[remap[pin + 3 - 1]] = intensity; 
}

void leds_white_on(){
  led_white(1, 4095);
  led_white(2, 4095);
  led_white(3, 4095);
  led_white(4, 4095);
  led_white(5, 4095);
  led_white(6, 4095);
}

void leds_white_off(){
  led_white(1, 0);
  led_white(2, 0);
  led_white(3, 0);
  led_white(4, 0);
  led_white(5, 0);
  led_white(6, 0);
}

void Dynamixel_stop(){
  Dynamixel.turn(1,RIGTH,0); //0 a 1020
  Dynamixel.turn(2,RIGTH,0);
  Dynamixel.turn(3,RIGTH,0);
  Dynamixel.turn(4,RIGTH,0);
  Dynamixel.turn(5,RIGTH,0);
  Dynamixel.turn(6,RIGTH,0);
}

void Dynamixel_crazy(){
  Dynamixel.turn(1,RIGTH,map(Sensor[0], MAX[0] , LIMIT, 300, 1000)); //0 a 1020
  Dynamixel.turn(2,LEFT, map(Sensor[0] + Sensor[1], MAX[0] + MAX[1] , 2*LIMIT, 300, 1000));
  Dynamixel.turn(3,RIGTH,map(Sensor[1], MAX[1] , LIMIT, 300, 1000));
  Dynamixel.turn(4,LEFT, map(Sensor[2], MAX[2] , LIMIT, 300, 1000));
  Dynamixel.turn(5,RIGTH,map(Sensor[2] + Sensor[3], MAX[2] + MAX[3] , 2*LIMIT, 300, 1000));
  Dynamixel.turn(6,LEFT, map(Sensor[3], MAX[3] , LIMIT, 300, 1000));
}

float measure(int anaPin) {
  if ((anaPin == 1)||(anaPin == 2))  digitalWrite(19, HIGH);
  else digitalWrite(18, HIGH);
  delay(49);
  float average = analogRead(anaPin)/2.;
  if ((anaPin == 1)||(anaPin == 2))  digitalWrite(19,LOW);
  else digitalWrite(18, LOW);
  return(average*2.54);  
}

void sensor_update()
  {
    for (int i = 0; i<4; i++) Sensor[i]=measure(i);
//    Serial.begin(9600);              // Begin Serial Comunication
//    for (int i = 0; i<4; i++)
//    {
//       Serial.print(Sensor[i]);
//       Serial.print(' ');
//    } 
//    Serial.println();
//    delay(100);
    //Dynamixel.begin(1000000,pin_dinamyxel);  // Inicialize the servo at 1Mbps and Pin Control 2
  }
  
  
//The timer interrupt routine, which periodically interprets the serial commands
ISR(TIMER2_OVF_vect) {
  sei(); //Reenable global interrupts, otherwise serial commands will get dropped
#if FREQ > 1
  if(++int_counter == FREQ){ // Only do this once every FREQ-th interrupt
    int_counter = 0;
#endif //FREQ

    makemagic();
    makemagic();
    makemagic();
    makemagic();

#if FREQ > 1
  }
#endif //FREQ
}

unsigned long time;

void setup(){
  pinMode(VPRG, OUTPUT);
  pinMode(SIN, OUTPUT);
  pinMode(SCLK, OUTPUT);
  pinMode(XLAT, OUTPUT);
  pinMode(BLANK, OUTPUT);
  pinMode(DCPRG, OUTPUT);
  pinMode(GSCLK, OUTPUT);
  pinMode(MISO, INPUT);
  pinMode(SS,OUTPUT);
  pinMode(19,OUTPUT);
  pinMode(18,OUTPUT);
  digitalWrite(SS,HIGH); //disable device
  digitalWrite(SIN, LOW);
  digitalWrite(SCLK, LOW);
  digitalWrite(XLAT, LOW);
  digitalWrite(VPRG, LOW);
  digitalWrite(19, LOW);
  digitalWrite(18, LOW);
  digitalWrite(BLANK, HIGH);
  digitalWrite(GSCLK, HIGH);
  digitalWrite(DCPRG, LOW); // USE EEPROM DC register if LOW
  Dynamixel.begin(1000000,pin_dinamyxel);  // Inicialize the servo at 1Mbps and Pin Control 2
  delay(1000);
  for(int i=1; i<7; i++) Dynamixel.setEndless(i, ON);
  
  TCCR2A = 0;
  TCCR2B = 1<<CS22 | 0<<CS21 | 0<<CS20;

  //Timer2 Overflow Interrupt Enable
  TIMSK2 = 1<<TOIE2;
  delay(10);
  
  //Setup the Hardware SPI registers
  // SPCR = 01010000
  //interrupt disabled,spi enabled,msb 1st,master,clk low when idle,
  //sample on leading edge of clk,system clock/4 (fastest)
  byte clr;
  SPCR = (1<<SPE)|(1<<MSTR);
  clr=SPSR;
  clr=SPDR;
  delay(10);


  led_rgb(0, 4095, 0);
  
  for (int i = 0; i<4; i++)
  {
    MAX[i] = measure(i);
    if (MAX[i]>450) MAX[i] = 450;
  }

  Dynamixel_stop();
  leds_white_off();
  time = millis();
//    Dynamixel.turn(1,LEFT,600);
//    Dynamixel.turn(2,LEFT,600);
//    Dynamixel.turn(3,LEFT,600);
//    Dynamixel.turn(4,LEFT,600);
//    Dynamixel.turn(5,LEFT,600);
//    Dynamixel.turn(6,LEFT,600);

}



void loop(){
 
  sensor_update();    

  if ((Sensor[0]<LIMIT)||(Sensor[1]<LIMIT)||(Sensor[2]<LIMIT)||(Sensor[3]<LIMIT)) { Dynamixel_stop(); leds_white_on(); led_rgb(4095, 0, 0);}
  else if ((Sensor[0]<(MAX[0] - RES))&&(Sensor[1]<(MAX[1] - RES))&&(Sensor[2]<(MAX[2] - RES))&&(Sensor[3]<(MAX[3] - RES)))    { time = millis(); Dynamixel_crazy(); leds_white_on(); led_rgb(4095, 4095, 0);}
  else if ((Sensor[0]<(MAX[0] - RES))&&(Sensor[1]>=(MAX[1] - RES))&&(Sensor[2]>=(MAX[2] - RES))&&(Sensor[3]>=(MAX[3] - RES))) { time = millis(); Dynamixel.turn(1,LEFT,map(Sensor[0], MAX[0] , LIMIT, 300, 1000)); led_white(1,4095); led_rgb(0, 0, 4095);}
  else if ((Sensor[0]>=(MAX[0] - RES))&&(Sensor[1]<(MAX[1] - RES))&&(Sensor[2]>=(MAX[2] - RES))&&(Sensor[3]>=(MAX[3] - RES))) { time = millis(); Dynamixel.turn(3,LEFT,map(Sensor[1], MAX[1] , LIMIT, 300, 1000)); led_white(3,4095); led_rgb(4095, 0, 4095);}
  else if ((Sensor[0]>=(MAX[0] - RES))&&(Sensor[1]>=(MAX[1] - RES))&&(Sensor[2]<(MAX[2] - RES))&&(Sensor[3]>=(MAX[3] - RES))) { time = millis(); Dynamixel.turn(4,LEFT,map(Sensor[2], MAX[2] , LIMIT, 300, 1000)); led_white(4,4095); led_rgb(0, 4095, 4095);}
  else if ((Sensor[0]>=(MAX[0] - RES))&&(Sensor[1]>=(MAX[1] - RES))&&(Sensor[2]>=(MAX[2] - RES))&&(Sensor[3]<(MAX[3] - RES))) { time = millis(); Dynamixel.turn(6,LEFT,map(Sensor[3], MAX[3] , LIMIT, 300, 1000)); led_white(6,4095); led_rgb(1000, 4095, 4095);}
  else if ((millis()- time)>2000){ leds_white_off(); Dynamixel_stop(); led_rgb(0, 4095, 0);}
  
  
  
//  if (Sensor[0]<LIMIT) { Dynamixel.turn(1,LEFT,0); led_white(1,4095); led_rgb(4095, 0, 0);}
//  else if ((Sensor[0]>=LIMIT)&&(Sensor[0]<(MAX[0] - RES))){Dynamixel.turn(1,LEFT,map(Sensor[0], MAX[0] , LIMIT, 300, 1000)); led_white(1,4095); led_rgb(4095, 4095, 0); }
//  else if (Sensor[0]>=MAX[0]){Dynamixel.turn(1,LEFT,0); led_white(1,0); led_rgb(0, 4095, 0);}
//  
//  if (Sensor[1]<LIMIT) {Dynamixel.turn(3,RIGTH,0); led_white(3,4095); led_rgb(4095, 0, 0);}
//  else if ((Sensor[1]>=LIMIT)&&(Sensor[1]<(MAX[1] - RES))){Dynamixel.turn(3,LEFT,map(Sensor[1], MAX[1] , LIMIT, 300, 1000)); led_white(3,4095); led_rgb(4095, 4095, 4095);}
//  else if (Sensor[1]>=MAX[1]){Dynamixel.turn(3,LEFT,0); led_white(3,0); led_rgb(0, 4095, 0);}
//  
//  if (Sensor[2]<LIMIT) {Dynamixel.turn(4,LEFT,0); led_white(4,4095); led_rgb(4095, 0, 0);}
//  else if ((Sensor[2]>=LIMIT)&&(Sensor[2]<(MAX[2] - RES))){Dynamixel.turn(4,LEFT,map(Sensor[2], MAX[2] , LIMIT, 300, 1000)); led_white(4,4095); led_rgb(0, 4095, 4095);}
//  else if (Sensor[2]>=MAX[2]){Dynamixel.turn(4,LEFT,0); led_white(4,0); led_rgb(0, 4095, 0);}
//  
//  if (Sensor[3]<LIMIT) {Dynamixel.turn(6,RIGTH,0); led_white(6,4095); led_rgb(4095, 0, 0);}
//  else if ((Sensor[3]>=LIMIT)&&(Sensor[3]<(MAX[3] - RES))){Dynamixel.turn(6,LEFT,map(Sensor[3], MAX[3] , LIMIT, 300, 1000)); led_white(6,4095); led_rgb(0, 0, 4095);}
//  else if (Sensor[3]>=MAX[3]) {Dynamixel.turn(6,LEFT,0); led_white(6,0); led_rgb(0, 4095, 0);} 
   
    
}