#include <Arduino.h> /* Just in case of using the vscode ide for arduino programming, not needed if using the commom arduino ide */
#include <RotaryEncoder.h>
#include <IRremote.hpp> // library for the IR receiver

#define PPR 29
#define RPWM 5
#define LPWM 6
#define RIGHT false
#define LEFT true

/*
  Pins connected to aduino

  IBT-2 pin 1 (RPWM) to Arduino pin 5(PWM)
  IBT-2 pin 2 (LPWM) to Arduino pin 6(PWM)
  IBT-2 pins 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V
  IBT-2 pin 8 (GND) to Arduino's GND
  IBT-2 pins 5 (R_IS) and 6 (L_IS) not connected
*/

// rotary encoder pins
//const int DT = 2;
//const int CLK = 3;
#define PIN_IN1 2
#define PIN_IN2 3

// potentiometer pin
const int pot = A0;
float vel = 30;

// declaration of encoder object
//RotaryEncoder encoder(DT, CLK, RotaryEncoder::LatchMode::TWO03);
RotaryEncoder *encoder = nullptr;

// variable to angle control
float angle = 0;

// ON/OFF codes
const int code1 = 0xAA1;  // on
const int code2 = 0xAA2;   // first sequence signal
const int code3 = 0xAA3;   // second sequence signal
const int code4 = 0xAA4;   // third sequence signal
const int code5 = 0xAA5;   // second sequence signal
const int code6 = 0xAA6; // off

// IR receive parameters
const int IR = 9;
IRrecv IrReceiv(IR);
decode_results result;
int code = 0;//0xAA1;

void checkPosition()
{
  encoder->tick(); // just call tick() to check the state.
}

void stopMotor() // function to stop the motor rotation
{
  analogWrite(RPWM, 0);
  analogWrite(LPWM, 0);
}

void turn(bool state, int speed)
  {
    if(state)
      {
        analogWrite(RPWM, speed);
        analogWrite(LPWM, 0);
      }
    else
      {
        analogWrite(RPWM, 0);
        analogWrite(LPWM, speed);
      }
  }

int turns = 0;
void getAngle() // printing data function
{
  static int pos = 0;
  encoder->tick();
  int newPos = encoder->getPosition();
  if (pos != newPos)
  {
    angle = ((float)newPos / PPR * 360);
    Serial.print("Actual angle: ");
    Serial.print(angle);
    int turns = 0;
    if (abs(angle)>=360) 
      {
        turns = angle/360;
        angle = angle - turns*360;
      }
    Serial.print(" Corrected angle: ");
    Serial.print(angle);
    Serial.print(" || Direction: ");
    Serial.print((int)(encoder->getDirection()));
    Serial.print(" || RPM: ");
    Serial.println((int)(encoder->getRPM()));
    pos = newPos;
  }
}

bool moveTo(float target) // function to rotate the motor to specific angles
{
  getAngle();
  if((angle<=target+360/29)&&((angle>=target-360/29)))
    {
      stopMotor();
      return false;
    }
  else if (angle < target)
  {
    analogWrite(LPWM, 0);
    analogWrite(RPWM, vel); // right rotation
    return true;
  }
  else if (angle > target)
  {
    analogWrite(RPWM, 0);
    analogWrite(LPWM, vel); // left rotation
    return true;
  }
  return true;
}

void setup()
{
  Serial.begin(9600);
  IrReceiv.enableIRIn();
  pinMode(RPWM, OUTPUT);
  pinMode(LPWM, OUTPUT);
  encoder = new RotaryEncoder(PIN_IN1, PIN_IN2, RotaryEncoder::LatchMode::TWO03);
  attachInterrupt(digitalPinToInterrupt(PIN_IN1), checkPosition, CHANGE);
  attachInterrupt(digitalPinToInterrupt(PIN_IN2), checkPosition, CHANGE);
}

void loop()
{
  if (IrReceiv.decode(&result))
  {
    Serial.print(result.bits);
    Serial.print(": ");
    Serial.println(result.value, HEX);
    IrReceiv.resume();
    code = result.value;
  }
  switch (code)
  {
    case code1:
      //stopMotor();
      break;
    case code2:
      // 1st signal is received
      //while (moveTo(-180));
      while (moveTo(90));
      //delay(1000);
      break;
    case code3:
      // 2nd signal is received
      turn(RIGHT, 20);
      //delay(10000);
      break;
    case code4:
      // 2nd signal is received
      //turn(false);
      //delay(20000);
      break;
    case code5:
      // 2nd signal is received
      while (moveTo(90));
      //delay(20000);
      break;
    case code6:
      // 4th signal is received, 4th signal is ignored
      while (moveTo(180));
      break;
    default:
      //stopMotor();
      //Serial.println("ERROR");
      break;
  }
  code = 0;//0xAA1;
  //if (code<0xAA7) code++;
}