#ifndef FILE_3DOT_SEEN
#define FILE_3DOT_SEEN

/* Mapping for 9.10b "Texas" */

/* IR Sensors */
#define WHITE LOW
#define BLACK HIGH

#define IR_R_O A0    // IR_R_O = analog pin A0
#define IR_R_I A1
#define IR_L_I A2
#define IR_L_O A3

/* Motors */
#define AIN1 6
#define AIN2 9
#define NSLEEP 4
#define BIN1 5
#define BIN2 10

/* v10.1
const int AIN1 = 11   // PB7,
const int AIN2 = 6    // PD7, OC4D
const int BIN1 = 13   // PC7, OC4A
const int BIN2 = 10   // PB6, OC4B

/* Wheel Encoder */
const int EncoderA = 14; // MISO
const int EncoderB = 16; // MOSI

/* Motor PWM experimentally determined values in Lab 2 */
const int motorRightHIGH = 240;
const int motorLeftHIGH = 230;

/* IR sensor constants experimentally determined values in Lab 3 
 * to determine trigger points 
 * hysterisis = 300 - 80 = 220 / 2 = 110
 * trigger0 = 80  + 110/2  = 135
 * trigger1 = 300 - 110/2  = 245
 */
const uint16_t trigger1 = 245;  // IR values 1023 to 300 = 1 (black)
const uint16_t trigger0 = 135;  // IR values 80 to 0 = 0 (white)

void init3DoT() {
  /* Initialize the Motor Driver */
  pinMode(AIN1,OUTPUT);      // Left Motor Digital pin AIN1 is an output
  digitalWrite(AIN1,LOW);    // Left Motor OFF
  pinMode(AIN2,OUTPUT);      // Left Motor Digital pin AIN2 is an output
  digitalWrite(AIN2,LOW);    // Left Motor OFF
  
  pinMode(NSLEEP,OUTPUT);    // Motor Sleep pin 
  digitalWrite(NSLEEP,HIGH); // Wake-up
 
  pinMode(BIN1,OUTPUT);      // Right Motor Digital pin BIN1 is an output
  digitalWrite(BIN1,LOW);    // Right Motor OFF
  pinMode(BIN2,OUTPUT);      // Right Motor Digital pin BIN2 is an output
  digitalWrite(BIN2,LOW);    // Right Motor OFF
  
  /* Initialize the IR Sensors */
  pinMode(IR_R_O,INPUT);     // Analog pin A0 
  pinMode(IR_R_I,INPUT);     // Analog pin A1 
  pinMode(IR_L_I,INPUT);     // Analog pin A2
  pinMode(IR_L_O,INPUT);     // Analog pin A3

  /* Wheel Encoder */  
  pinMode(EncoderA, INPUT);  // pull-up included on wheel encoder
  pinMode(EncoderB, INPUT);
  
  /* ADC Reference voltage */
  analogReference(INTERNAL);   // reference voltage = 2.56v
};

/* based on v9_motor_test_basic */

typedef enum 
{
  // 0      1        2        3         4
  brake, forward, backward, spin_right, spin_left
} drv8848_t;

/* alternate form
               0      1       2       3       4
   enum drv8848_t {brake, forward, backward, spin_right, spin_left};
*/

void setMotor(drv8848_t  state){
      switch(state) {
         case brake:      // motors initialized to brake
            analogWrite(AIN1, 255);     // "true" A  ==> left motor (simply a convention)
            analogWrite(AIN2, 255);
            analogWrite(BIN1, 255);     // right motor
            analogWrite(BIN2, 255); 
            break;  
         case forward:   // motors initialized to standby mode (coast) 
            analogWrite(AIN1, 0);     // "true" A  ==> left motor (simply a convention)
            analogWrite(AIN2, 230);
            analogWrite(BIN1, 0);     // right motor
            analogWrite(BIN2, 230);
            break;
        case backward: // motors intialized to standby mode (brake) 
            analogWrite(AIN1, 230);
            analogWrite(AIN2, 0);  
            analogWrite(BIN1, 230);
            analogWrite(BIN2, 0);
            break;
        case spin_right:    // motors initialized to standby mode (motor A = coast, B = brake) 
            analogWrite(AIN1, 0);
            analogWrite(AIN2, 230);
            analogWrite(BIN1, 230);
            analogWrite(BIN2, 0);
            break;
        case spin_left:  // motors initialized to standby mode (motor A = brake, B = coast) 
            analogWrite(AIN1, 230);
            analogWrite(AIN2, 0);
            analogWrite(BIN1, 0);
            analogWrite(BIN2, 230);
            break;
        default:
        
            break;
      }
}

#endif /* !FILE_3DOT_SEEN */