#include <TimerOne.h>
#define FACTOR 10
uint8_t pR[6] = {2, 4, 6, 8, 10, 12};
uint8_t pA[6] = {3, 5, 7, 9, 11, A5};
uint8_t mode = A2;
uint8_t iA = A0;
uint8_t iR = A1;
long unsigned int time_av[6] = {0,0,0,0,0,0};
long unsigned int time_rt[6] = {0,0,0,0,0,0};
long unsigned int time_av_prot[6] = {0,0,0,0,0,0};
long unsigned int time_rt_prot[6] = {0,0,0,0,0,0};
uint32_t time_pausa = 100;

void auto_mode()
  {
    //Serial.println(time_pausa);
    avanza( 1, 1,  1,  1,  1,  1, time_pausa);
    //avanza( -1, -1,  -1,  -1, -1, -1, time_pausa);
  }
  
void manual_mode()
  {
    if (!digitalRead(iR))
        {
          for(int i=0; i<6; i++) avanza(i);
        }
    else if (!digitalRead(iA))
        {
          for(int i=0; i<6; i++)  retrocede(i);
        }
    else
        {
          for(int i=0; i<6; i++)  stop(i);
        }
   // delay(100);
  }
  
// the setup function runs once when you press reset or power the board
void setup() {
  // initialize digital pin LED_BUILTIN as an output.
  Serial.begin(9600);
  for(int i=0; i<6; i++) 
    {
      pinMode(pA[i], OUTPUT);
      pinMode(pR[i], OUTPUT);
      digitalWrite(pA[i], LOW);
      digitalWrite(pR[i], LOW);
    }
  pinMode(mode, INPUT);
  pinMode(iA, INPUT);
  pinMode(iR, INPUT);
  digitalWrite(iR, HIGH);
  digitalWrite(iA, HIGH);
  digitalWrite(mode, HIGH);
  Timer1.initialize(10000);
  Timer1.attachInterrupt(stop_diapos); // blinkLED to run every 0.15 seconds
  noInterrupts();
  time_pausa = 600 + average(A4)*FACTOR;
  interrupts();
}

// the loop function runs over and over again forever
void loop() {
  if(!digitalRead(mode))
    {
      noInterrupts();
      manual_mode();
    }
  else
    {
      interrupts();
      auto_mode();
    }
}


void avanza(uint8_t pin)
  {
    digitalWrite(pR[pin], LOW);
    digitalWrite(pA[pin], HIGH);
  }

void retrocede(uint8_t pin)
  {
    digitalWrite(pA[pin], LOW);
    digitalWrite(pR[pin], HIGH);
  }

void avanza(uint8_t pin, uint32_t time)
  {
    if(time>0)
      {
        noInterrupts();
        time_av_prot[pin] = time;
        time_av[pin] = millis();
        digitalWrite(pR[pin], LOW);
        digitalWrite(pA[pin], HIGH);
        interrupts();
      }
  }

void retrocede(uint8_t pin, uint32_t time)
  {
    if(time>0)
      {
        noInterrupts();
        time_rt_prot[pin] = time;
        time_rt[pin] = millis();
        digitalWrite(pA[pin], LOW);
        digitalWrite(pR[pin], HIGH);
        interrupts();
      }
  }

void avanza(bool av0, bool av1, bool av2, bool av3, bool av4, bool av5, unsigned long int time)
  {
    bool av[6] = {av0, av1, av2, av3, av4, av5};
    for(int i=0; i<6; i++) 
      {
        if (av[i]>0) avanza(i, 500);
        else if(av[i]<0) retrocede(i, 500);
      }
    delay(time);
    noInterrupts();
    time_pausa = 600 + average(A4)*FACTOR;
    interrupts();
  }
  
void stop(int8_t pin)
  {
    digitalWrite(pA[pin], LOW);
    digitalWrite(pR[pin], LOW);
  } 

void stop_diapos(void)
{
  
  for(int i=0; i<6; i++) 
    {
      if ((millis()- time_av[i]) < time_av_prot[i])
        break;
      else  if ((millis()- time_rt[i]) < time_rt_prot[i])
        break;
      else stop(i);
    }
}

#define N 100
uint32_t average(int PIN)
  {
    uint32_t value = 0;
    for(int i=0; i<N; i++)
      {
        value = analogRead(A4) + value;
      }
    return value/N;
  }