/**
 *  C.G. 2017 - Firmware ESP 8266-1 pour rObOscratch II
**/
 
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
#include <ESP8266mDNS.h>

const char* ssid = "rObOtScratch";
const char* password = "56claude";

ESP8266WebServer server(80);


int bAV_D = 1; // variable d'état : moteur droite en avant (1) ou arrière (0)
int vAV_D = 0; // nb de ticks en position haute pour le hacheur
int vAV_Dold = 4; // pour reprendre à la meme vitesse apres un arret

int bAV_G = 1;
int vAV_G = 0;
int vAV_Gold = 4;

int h = 0;

void handleRoot() {
  server.send(200, "text/plain", "CG 2017 PETIT ROBOT avec ESP8266");
}

void handleAV() {
  bAV_D = 1;
  vAV_D = vAV_Dold;
  bAV_G = 1;
  vAV_G = vAV_Gold;
   
}

void handleAR() {
  bAV_D = 0;
  vAV_D = vAV_Dold;
  bAV_G = 0;
  vAV_G = vAV_Gold;
}

void handleDR() {
  bAV_D = 1;
  vAV_D = vAV_Dold;
  bAV_G = 0;
  vAV_G = vAV_Gold;  
}

void handleGA() {
   bAV_D = 0;
   vAV_D = vAV_Dold;
   bAV_G = 1;
   vAV_G = vAV_Gold;
}

void handlePlus() {
    vAV_D++; if (vAV_D>10) vAV_D=10;
    vAV_G++; if (vAV_G>10) vAV_G=10;
    vAV_Dold = vAV_D;
    vAV_Gold = vAV_G;
}

void handleMoins() {
    vAV_D--; if (vAV_D<0) vAV_D=0;
    vAV_G--; if (vAV_G<0) vAV_G=0;
    vAV_Dold = vAV_D;
    vAV_Gold = vAV_G;
}

void handleStop() {
  vAV_Dold = vAV_D;
  vAV_D = 0;
  vAV_Gold = vAV_G;
  vAV_G = 0; 
}

void handleNotFound(){
  String message = "File Not Found\n\n";
  message += "URI: ";
  message += server.uri();
  message += "\nMethod: ";
  message += (server.method() == HTTP_GET)?"GET":"POST";
  message += "\nArguments: ";
  message += server.args();
  message += "\n";
  for (uint8_t i=0; i<server.args(); i++){ 
     message += " " + server.argName(i) + ": " + server.arg(i) + "\n"; 
  } 
  server.send(404, "text/plain", message); 
} 


// HACHEUR 
volatile int toggle; 
void inline hacheur (void){ 
        h++; if (h>10) h=0;
	if (bAV_D == 1) { // moteur droite en avant
		if (h < vAV_D) { digitalWrite(0, 1);  digitalWrite(2, 0); } 
                else { digitalWrite(0, 0); digitalWrite(2, 0);}
	} else {
		if (h < vAV_D) { digitalWrite(0, 0); digitalWrite(2, 1);} 
                else { digitalWrite(0, 0); digitalWrite(2, 0);}
	}
	
	if (bAV_G == 1) { // moteur gauche en avant
		if (h < vAV_G) { digitalWrite(1, 1);  digitalWrite(3, 0);} 
                else { digitalWrite(1, 0); digitalWrite(3, 0);}
	} else {
		if (h < vAV_G) { digitalWrite(1, 0); digitalWrite(3, 1); } 
                else { digitalWrite(1, 0); digitalWrite(3, 0); } } 

       timer0_write(ESP.getCycleCount() + 80000); 
       // 80Mhz -> 80*10^6 = 1 seconde
       //          80*10^3 = 1 ms    
}

void setup(void){
   int i = 0;
   
   pinMode(0, OUTPUT);
   pinMode(1, OUTPUT);
   pinMode(2, OUTPUT);
   pinMode(3, OUTPUT);

   WiFi.begin(ssid, password);
   delay(500);
   // Attente de connexion
   while (WiFi.status() != WL_CONNECTED) delay(500);

   server.on("/", handleRoot);
   server.on("/av",[](){handleAV(); server.send(200, "text/plain", "AV");});
   server.on("/1", [](){server.send(200, "text/plain", "1");});
   server.on("/0", [](){server.send(200, "text/plain", "0");});
   server.on("/ar",[](){handleAR(); server.send(200, "text/plain", "AR");});
   server.on("/dr",[](){handleDR(); server.send(200, "text/plain", "DR");});
   server.on("/ga",[](){handleGA(); server.send(200, "text/plain", "GA");});
   server.on("/+", [](){handlePlus(); server.send(200, "text/plain", "+");});
   server.on("/-", [](){handleMoins(); server.send(200, "text/plain", "-");});
   server.on("/st",[](){handleStop(); server.send(200, "text/plain", "STOP");});
   server.onNotFound(handleNotFound);
   server.begin();  
   
   noInterrupts();
   timer0_isr_init();
   timer0_attachInterrupt(hacheur);
   timer0_write(ESP.getCycleCount() + 80000000);
   interrupts();
 
}

void loop(void){
  server.handleClient();
}