#include <LiquidCrystal.h>
int val;
int key;
int keynum;
/////////////////////////////////////////////////
int enablePin1 = 9;  //Motor's enable pin
int enablePin2 = 10;  //Motor's enable pin
int dPin_1 = 4;// Digital Pin to turn the motor on/off
int dPin_2 = 5;
int dPin_3 = 6;// Digital Pin to turn the motor on/off
int dPin_4 = 7;
int beepin = 13;
int leftpin = 8;
int rightpin =2 ;
int midpin=3;
//////////////////////////////////////////////////
int rightpinste=0;
int leftpinste=0;
int midpinste=0;
int speed1=100;
int speed2=50;
int randomnum;


LiquidCrystal lcd(12, 11, 7, 6, 5, 4);


void setup()
{
   // set up the LCD's number of rows and columns: 
   lcd.begin(16, 2);
   // Print a message to the LCD.
   lcd.print("dino cart!");

  
Serial.begin(115200);
pinMode(enablePin1, OUTPUT);
pinMode(dPin_1, OUTPUT);
pinMode(dPin_2, OUTPUT);
pinMode(enablePin2, OUTPUT);
pinMode(dPin_3, OUTPUT);
pinMode(dPin_4, OUTPUT);
pinMode(beepin, OUTPUT);

pinMode(leftpin, INPUT);
pinMode(rightpin, INPUT);
pinMode(midpin, INPUT);
}

void backward()
{
  lcd.clear();
  lcd.print("backward");
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);    
  digitalWrite(dPin_1, HIGH);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, HIGH);
  digitalWrite(dPin_4, LOW);
  delay(speed1);
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
}

void forward()
{
 lcd.clear();
  lcd.print("forward");
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);      
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, HIGH);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, HIGH);
  delay(speed1);
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
}

void litforward()
{
 lcd.clear();
  lcd.print("lit forward");
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);      
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, HIGH);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, HIGH);
  delay(speed2);
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
}

void goright()
{
  lcd.clear();
  lcd.print("right");
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);    
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, HIGH);
  digitalWrite(dPin_3, HIGH);
  digitalWrite(dPin_4, LOW);
  delay(speed1);
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
}

void goleft()
 {
  lcd.clear();
  lcd.print("left");
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);    
  digitalWrite(dPin_1, HIGH);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, HIGH);
  delay(speed1);
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
 }
 
void beep()
{
   lcd.clear();
   lcd.print("beep!beep!");
   digitalWrite(beepin, HIGH);  
   delay(20);
   digitalWrite(beepin, LOW);  
   delay(20);
   digitalWrite(beepin, HIGH);  
   delay(20);
   digitalWrite(beepin, LOW);  
   delay(20); 
}

void stoprun()
{
  lcd.clear();
  lcd.print("stop");
  digitalWrite(enablePin1, LOW);
  digitalWrite(enablePin2, LOW);   
  digitalWrite(dPin_1, LOW);
  digitalWrite(dPin_2, LOW);
  digitalWrite(dPin_3, LOW);
  digitalWrite(dPin_4, LOW);
}

void detlight()
{
 rightpinste= digitalRead(rightpin);
 midpinste= digitalRead(midpin);
 leftpinste= digitalRead(leftpin);
 if (rightpinste==HIGH && midpinste==HIGH && leftpinste==HIGH) 
 {
  backward() ; 
 }
 if (rightpinste==LOW && midpinste==HIGH && leftpinste==LOW) 
 {
  litforward();
 }
  if (rightpinste==HIGH && midpinste==LOW && leftpinste==LOW) 
 {
  goleft();
 }
  if (rightpinste==HIGH && midpinste==HIGH && leftpinste==LOW) 
 {
  goleft();
    litforward();
 } 
  if (rightpinste==LOW && midpinste==LOW && leftpinste==HIGH) 
 {
  goright();
 }
  if (rightpinste==LOW && midpinste==HIGH && leftpinste==HIGH) 
 {
  goright();
    litforward();
 }
}

void randomrun()
{
randomnum = int(random(4));
  detlight();
  if(randomnum==0)
  {  backward();  }
  if(randomnum==1)
  {  forward();  }
  if(randomnum==2)
  {  goright();  }
  if(randomnum==3)
  {  goleft();  }
  if(randomnum==4)
  {  stoprun();  }
}

void getkey()
{
  keynum=analogRead(5);
  key=0;
  if (keynum>935 && keynum<945) {
  key=1;
  }
  if (keynum>955 && keynum<965) {
  key=2;
  }
  if (keynum>975 && keynum<985) {
  key=3;
  }
  if (keynum>995 && keynum<1005) {
  key=4;
  }
  
}





void loop()
{
  getkey();
  val=Serial.read();
  if(val=='s'|| key==2)
  {  backward();  }
  if(val=='w'||key==1)
  {  forward();  }
  if(val=='d'||key==3)
  {  goright();  }
  if(val=='a'||key==4)
  {  goleft();  }
  if(val=='b')
  {  beep();  }
  detlight();
 }