#include <SoftwareSerial.h>
int motor1Pin1 = 11; // pin 7 on L293D IC
int motor1Pin2 = 10; // pin 8 on L293D IC
int motor2Pin1 = 9; // pin 12 on L293D IC
int motor2Pin2 = 8; // pin 13 on L293D IC 
int EnPinL = 2; // pin 12 on L293D IC
int EnPinR = 3; // pin 13 on L293D IC 
int Sensor_1 = 0;
int Sensor_2 = 0;
int pirPin = 13;
int ledPir = 4;
SoftwareSerial mySerial(6, 7);
char mode = -1;

int timeflag = 0;
int starttime = 0;

void setup() {
    // sets the pins as outputs:
    Serial.begin(9600);
    mySerial.begin(9600);
    pinMode(motor1Pin1, OUTPUT);
    pinMode(motor1Pin2, OUTPUT);
    pinMode(motor2Pin1, OUTPUT);
    pinMode(motor2Pin2, OUTPUT);
    pinMode(EnPinL, OUTPUT);
    pinMode(EnPinR, OUTPUT);
    pinMode(pirPin, INPUT);
    pinMode(ledPir, OUTPUT);

    digitalWrite(ledPir, LOW);
}

void motorback() {
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, HIGH);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, LOW);
}

void motorfront() {
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, HIGH);
}

void motorleft()
{
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, HIGH);
}

void motorright() {
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, LOW);
}

void motorstop() {
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, LOW);
}

void readsensor() {

}

char getChar() {
    while (mySerial.available() == 0);
    return ((char) mySerial.read());
}

int getSerial() {
    if (mySerial.available()) {
        return getChar();
    }
    return -1;
}

void loop() {
    delay(100);
    
    char cmd = getSerial();
    //char cmd = getChar();
    Serial.print(cmd);
    if (cmd == 'M' || cmd == 'P' || cmd == 'Z') {
        mode = cmd;
    }
    if (mode == 'M') {
        //remote();
        Serial.println("Remote|");
        //remote();
    }

    if (mode == 'P') {
        //patrol();
        Serial.println("Patrol|");
        delay(200);
        
        
        
        patrol();
    
    
    
    }

    if (mode == 'Z') {
        //siram();
        Serial.println("Siram|");
        //siram();
    }
}

void patrol() {
        
        if(timeflag == 0){
            starttime = millis();
            Serial.print(starttime);
            timeflag = 1;
        }
        
        readsurface();
        Serial.print(millis());    
        Serial.print("/n");
        if(millis() >= (starttime + 10000)){
            scanPIR();
            timeflag = 0;
        }
}

void scanPIR() {
    motorstop();
    delay(2000);
    if (digitalRead(pirPin) == HIGH) {
        Serial.println("Motion Detected");
        digitalWrite(ledPir, HIGH);
        delay(1000);
    } else {
        Serial.println("No Motion");
        digitalWrite(ledPir, LOW);
    }

}

void readsurface() {
    Sensor_2 = analogRead(A0);
    Sensor_1 = analogRead(A1);

    if (Sensor_1 < 300 && Sensor_2 > 300) {
        Serial.println("Moving Backward");
        motorback();
        delay(1000);
        Serial.println("Right Turn");
        motorright();
        delay(1000);
    } else if (Sensor_2 < 300 && Sensor_1 > 300) {
        Serial.println("Moving Backward");
        motorback();
        delay(1000);
        Serial.println("Left Turn");
        motorleft();
        delay(1000);
    } else {
        Serial.println("Moving Forward");
        motorfront();
    }
}