/*
   -- Rock Crawler --

   This source code of graphical user interface
   has been generated automatically by RemoteXY editor.
   To compile this code using RemoteXY library 3.1.6 or later version
   download by link http://remotexy.com/en/library/
   To connect using RemoteXY mobile app by link http://remotexy.com/en/download/
     - for ANDROID 4.7.12 or later version;
     - for iOS 1.4.7 or later version;

   This source code is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.
*/

//////////////////////////////////////////////
//        RemoteXY include library          //
//////////////////////////////////////////////

// RemoteXY select connection mode and include library
#define REMOTEXY_MODE__ESP8266_SOFTSERIAL_POINT
#include <SoftwareSerial.h>

#include <RemoteXY.h>

// RemoteXY connection settings
#define REMOTEXY_SERIAL_RX A0
#define REMOTEXY_SERIAL_TX A1
#define REMOTEXY_SERIAL_SPEED 9600
#define REMOTEXY_WIFI_SSID "Rock Crawler"
#define REMOTEXY_WIFI_PASSWORD "12345678"
#define REMOTEXY_SERVER_PORT 6377


// RemoteXY configurate
#pragma pack(push, 1)
uint8_t RemoteXY_CONF[] =
{ 255, 2, 0, 0, 0, 19, 0, 11, 27, 0,
  4, 48, 8, 1, 20, 61, 35, 26, 4, 176,
  40, 21, 59, 20, 14, 26
};

// this structure defines all the variables and events of your control interface
struct {

  // input variables
  int8_t speed_slider; // =-100..100 slider position
  int8_t direction_slider; // =-100..100 slider position

  // other variable
  uint8_t connect_flag;  // =1 if wire connected, else =0

} RemoteXY;
#pragma pack(pop)

/////////////////////////////////////////////
//           END RemoteXY include          //
/////////////////////////////////////////////



#include <AFMotor.h>  // https://lastminuteengineers.com/l293d-motor-driver-shield-arduino-tutorial/
// Both front and back motors controlled simultaneously on separate channels for for better power
AF_DCMotor motor_a(1);
AF_DCMotor motor_b(2);

#include <Servo2.h>  // Custom mod to prevent conflict with SoftwareSerial.h - https://forum.arduino.cc/t/softwareserial-and-servo-conflict/321859/6
Servo direction_servo;
#define servoPin 10



void setup() {
  RemoteXY_Init ();
  direction_servo.attach(servoPin);
  RemoteXY.speed_slider = 0;
}



void loop() {
  RemoteXY_Handler ();

  // Connection Failsafe
  if (RemoteXY_isConnected() == 0) {
    motor_a.run(RELEASE);
    motor_b.run(RELEASE);
  }
// Speed control (variable)
  if (RemoteXY.speed_slider < -30) {  // Backward
    motor_a.run(BACKWARD);
    motor_b.run(BACKWARD);
    int set_speed = map(RemoteXY.speed_slider, -100, -21, 255, 0);
    motor_a.setSpeed(set_speed);
    motor_b.setSpeed(set_speed);
    //Serial.print("Backward "); Serial.println(set_speed);
  } else if (RemoteXY.speed_slider > 30) {  // Forward
    motor_a.run(FORWARD);
    motor_b.run(FORWARD);
    int set_speed = map(RemoteXY.speed_slider, 21, 100, 0, 255);
    motor_a.setSpeed(set_speed);
    motor_b.setSpeed(set_speed);
    //Serial.print("Forward "); Serial.println(set_speed);
  } else {  // Stop
    motor_a.run(RELEASE);
    motor_b.run(RELEASE);
    //Serial.println("STOP");
  }

// Direction control - hard left, right or center... one could also make variable if the vehicle accommodates such flexibility.
  if (RemoteXY.direction_slider < -30) {  // Left
    direction_servo.write(180);
    delay(15);
  } else if (RemoteXY.direction_slider > 70) {  // Right
    direction_servo.write(0);
    delay(15);
  } else { // If centered
    direction_servo.write(90);
    delay(15);
  }
}