#include <AccelStepper.h>
#define HALFSTEP 8

// Motor pin definitions
#define motorPin1  10     // IN1 on the ULN2003 driver 1
#define motorPin2  9     // IN2 on the ULN2003 driver 1
#define motorPin3  6     // IN3 on the ULN2003 driver 1
#define motorPin4  5     // IN4 on the ULN2003 driver 1

//Time Variables
unsigned long startMillis;
unsigned long timing1; //time variable for left sensor
unsigned long timing2; //time variable for right sensor

//Sensor Variables
int sensorValue1; //left sensor
int sensorValue2; //right sensor
int sensorLow = 1023;
int sensorHigh = 0;

//Interaction Variables
boolean right = false;
boolean left = false;
boolean interaction = false;

// LED pin
const int ledPin = 13;

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);


//***Main Code***

void setup() {
  // Make the LED pin an output and turn it on
  pinMode(ledPin, OUTPUT);
  digitalWrite(ledPin, HIGH);
  startMillis = millis();  //Initial start time
  
  // Calibrate for the first five seconds after program runs
  while (millis() < 5000) {
    //Set sensor values to read from the corresponding analog pins
    sensorValue1 = analogRead(A4);
    sensorValue2 = analogRead(A5);

    // record the maximum sensor value for sensor1
    if (sensorValue1 > sensorHigh) {
      sensorHigh = sensorValue1;
    }
    // record the minimum sensor value for sensor1
    if (sensorValue1 < sensorLow) {
      sensorLow = sensorValue1;
    }
    // record the maximum sensor value for sensor2
    if (sensorValue2 > sensorHigh) {
      sensorHigh = sensorValue2;
    }
    // record the minimum sensor value for sensor2
    if (sensorValue2 < sensorLow) {
      sensorLow = sensorValue2;
    }
  
  //Initialize motor settings
  stepper1.setMaxSpeed(1500.0);
  stepper1.setAcceleration(1000.0);
  stepper1.setSpeed(1000);
  stepper1.setCurrentPosition(0);
  
  digitalWrite(ledPin, LOW); // turn the LED off, signaling the end of the calibration period
  Serial.begin(9600); //Starts Serial communication
  }
}

void loop() {
//  //read the input from A0 and store it in a variable
//  sensorValue1 = analogRead(A5);
//  sensorValue2 = analogRead(A4);

  // map the sensor values to a wide range of pitches
  int reading1 = map(sensorValue1, sensorLow, sensorHigh, 50, 4000);
  int reading2 = map(sensorValue2, sensorLow, sensorHigh, 50, 4000);


  //Detect if valid interaction happened, if so, set interaction to TRUE
  if (stepper1.distanceToGo() == 0){ //check to see if stepper motor has reached the destination, if so, begin new loop and receive input, otherwise, continue moving the motor
    stepper1.setCurrentPosition(0); //if so, set the current location to be the new starting point
    if (reading1 < 0){ //if sensor1 detects negative light change, take the current running time of program and put it in timing1
      timing1 = millis();
      if (reading2 < 0){ //if sensor2 detects negative light change, take the current running time of program and put it in timing2
        timing2 = millis();
        if (timing1 - timing2 <= 100){ //if the time difference between timing1 and timing2 is less than 1 second, it means an interaction has happened
          interaction = true;
        }
      }
    }
    if (reading2 < 0){ //if sensor2 detects negative light change, take the current running time of program and put it in timing2
      timing2 = millis();
      if (reading1 < 0){ //if sensor1 detects negative light change, take the current running time of program and put it in timing1
        timing1 = millis();
        if (timing2 - timing1 <= 100){ //if the time difference between timing1 and timing2 is less than 1 second, it means an interaction has happened
          interaction = true;
        }
      }
    }

    //If an interaction has happened, check to see which timing came first to determine the direction of hand gesture
    if (interaction){
      if (timing1 < timing2){ //if the time sensor1 was triggered is earlier than time for sensor2, it means the interaction started from the left and moved to the right
        Serial.println("Right");
        stepper1.moveTo(-20000); //set the new motor destination 20000 units in the counter-clockwise direction, so the panels get turned starting from the left side, going to the right
        interaction = false; //reset the interaction boolean to false so the motor doesn't get accidentally triggered in the next iteration if no interaction was detected
        delay(400); //wait 4 seconds
      }
      if (timing2 < timing1){ //if the time sensor2 was triggered is earlier than time for sensor1, it means the interaction started from the right and moved to the left
        Serial.println("Left");
        stepper1.moveTo(20000); //set the new motor destination 20000 units in the clockwise direction, so the panels get turned starting from the right side, going to the left
        interaction = false; //reset the interaction boolean to false so the motor doesn't get accidentally triggered in the next iteration if no interaction was detected
        delay(400); //wait 4 seconds
      }
    }
  }
  stepper1.run(); //run the stepper motor
}