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#include <niboburger/robomain.h>

int power;
bool ready1;
bool ready2;
bool start1;
bool start2;
bool objectright;
bool objectleft;

void setup() {
  led_init();
  analog_init();
  motpwm_init();
  power = 0;
  ready1=false;
  ready2=false;
  start1=false;
  start2=false;
  objectright=false;
  objectleft=false;
}

void loop() {
  char key = key_get_char();
  int led_Nr;
  int led_count;
  int fll = analog_getValueExt(ANALOG_FLL, 2);
  int fl = analog_getValueExt(ANALOG_FL, 2);
  int fr = analog_getValueExt(ANALOG_FR, 2);
  int frr = analog_getValueExt(ANALOG_FRR, 2);
  
  switch (key) {
    case 'a' :
      led_setall(0,0,0,0);
      delay(200);
      if ((ready1==false) && (ready2==false)) {
      for (led_Nr=1; led_Nr<=4; led_Nr++) {
        led_set(led_Nr, 1);
        delay(300);
      }
      for (led_count=1; led_count<=2; led_count++) {
      led_setall(0,0,0,0);
      delay(100);
      led_setall(1,1,1,1);
      delay(100);
      led_setall(0,0,0,0);
      }
      ready1=true;
      break;
      }
    case 'b' :
      led_setall(0,0,0,0);
      delay(400);
    if ((ready2==false) && (ready1==false)) {
      for (led_count=1; led_count<=2; led_count++) {
      led_setall(0,0,0,0);
      delay(200);
      led_setall(0,1,1,0);
      delay(200);
      led_setall(0,0,0,0);
      }
      for (led_count=1; led_count<=2; led_count++) {
      led_setall(0,0,0,0);
      delay(200);
      led_setall(1,0,0,1);
      delay(200);
      led_setall(0,0,0,0);
      }
      ready2=true;
      break;
    }
  }  
  if ((ready1==true) && (ready2==false)) {
    switch (key) {
      case 'A' :
      start1=true;
      break;
      case 'c' :
      motpwm_setLeft(0);
  	  motpwm_setRight(0);
      ready1=false;
      start1=false;
      led_setall(1,0,0,1);
     break;
    }
      
    if ((start1==true) && (ready2==false)) {
     analog_wait_update();     
      if ((fll<10) && (fl<10) && (frr<10) && (fr<10) && (objectleft==false) && (objectright==false)) {
      	motpwm_setLeft(500);
        motpwm_setRight(500);
      } else if ((fll>10) && (fl<10) && (objectleft==false) && (objectright==false)) {
          motpwm_setLeft(500);
          motpwm_setRight(250);        
      } else if ((fl>10) && (fr<10) && (objectleft==false) && (objectright==false)) {        
          motpwm_setLeft(500);
          motpwm_setRight(0);        
      } else if ((frr>10) && (fr<10) && (objectleft==false) && (objectright==false)) {        
          motpwm_setLeft(250);
          motpwm_setRight(500);        
      } else if ((fr>10) && (fl<10) && (objectleft==false) && (objectright==false)) {        
          motpwm_setLeft(0);
          motpwm_setRight(500);        
      } else if ((fll>10) && ((fr>10) || (fl>10)) && (objectleft==false) && (objectright==false)) {
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(500);
          motpwm_setRight(0);
          delay(1750);
      } else if ((frr>10) && ((fr>10) || (fl>10)) && (objectleft==false) && (objectright==false)) {
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(0);
          motpwm_setRight(500);
          delay(1750);
      } else if ((fll>10) && (objectright==false)) {
          delay(3000);
          objectleft=true;
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(500);
          motpwm_setRight(0);
          delay(1750);
          objectleft=false;
      } else if ((fl>10) && (objectright==false)) {
          delay(3000);
          objectleft=true;
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(500);
          motpwm_setRight(0);
          delay(1750);
          objectleft=false;
      } else if ((fr>10) && (objectleft==false)) {
          delay(3000);
          objectright=true;
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(0);
          motpwm_setRight(500);
          delay(1750);
          objectright=false;
      } else if ((frr>10) && (objectleft==false)) {
          delay(3000);
          objectright=true;
          motpwm_setLeft(-300);
          motpwm_setRight(-300);
          delay(1000);
          motpwm_setLeft(0);
          motpwm_setRight(500);
          delay(1750);
          objectright=false;
      }
     led_setall(fll>=10, fl>=10, fr>=10, frr>=10);
  }

if ((ready2==true) && (ready1==false)) {
    switch (key) {
      case 'B' :
      start2=true;
      power=0;
      break;
      case 'c' :
      motpwm_setLeft(0);
  	  motpwm_setRight(0);
      ready2=false;
      start2=false;
      led_setall(1,0,0,1);
     break;
    }
  if ((start2==true) && (ready1==false)) {
    analog_wait_update();
    if (fll>15) {
      motpwm_setLeft(0);
      motpwm_setRight(800);
    } else if ((fl>15) && (fll<15)) {
      motpwm_setLeft(400);
      motpwm_setRight(800);
    } else if ((fr>15) && (frr<15)) {
      motpwm_setLeft(800);
      motpwm_setRight(400);
    } else if (frr>15) {
      motpwm_setLeft(800);
      motpwm_setRight(0);
    } else if ((fll<15) && (fl<15) && (fr<15) && (frr<15)) {
      motpwm_setLeft(0);
      motpwm_setRight(0);
    }
    led_setall(fll>=15, fl>=15, fr>=15, frr>=15);
  }
}
}
}

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