#include<SPI.h>
#include<nRF24L01.h>
#include<RF24.h>
#include "Arduino.h"
#include "HardwareSerial.h"
#include<Servo.h>
#define  trigPin   6          //超声波模块的Trig口 6#
#define  echoPin   5          //超声波模块的echo口 5#
#define  ServoPin  3          //底座舵机端口 3#
unsigned long time=0;
bool increasing=true;
bool clr=false;
//0: increase 1: decrease 2: clr
int status=0;
int clrtime=40;
int x=0;

Servo MyServo;
Servo RadarServo;
RF24 radio(7,8);
int count =0; 
int IN1 =9;
int IN2 =10;
int PWM=6;
// int TrigPin=2;
// int EcoPin=3;
// int dAngle=5;
int angle=90;
int period=25;
// float dist;
long dj,z;//dj是舵机，z是螺旋桨转速
//long propeller=0,rudder=0;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
//long s_propeller=0,s_rudder=0;//发送的信号
long propeller,rudder,content;//校验序列、读取内容和解码内容 
long response=0;
const byte addresses[6] = "00001";  //创建一个数组，建立接收机地址，或者说两个模块将用于通信的“管道”
int calculateDistance()
{ 
  long duration;
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  return duration*0.034/2;
}

void setup()
{
  Serial.begin(9600);
  MyServo.attach(4);
  RadarServo.attach(ServoPin);
  pinMode(trigPin,OUTPUT);
  pinMode(echoPin,INPUT);
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(PWM,OUTPUT);
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  MyServo.write(angle);
  RadarServo.write(0);
  radio.begin();
  //radio.setChannel(114);
  radio.openReadingPipe(1,addresses);   //接收通道，
  radio.openWritingPipe(addresses);//发送通道
  radio.setPALevel(RF24_PA_HIGH);   //设置功率放大器级别，将其设置为最小值
  delay(1000);
  MyServo.write(45);
}
long confirm(long x){
  if(x>=1000000&&x<=2000000)return x%1000000;
  else return -1;
}
void loop() {
  radio.startListening();
  if(radio.available()){
    radio.read(&content,sizeof(content));
    Serial.println("The content is");
    Serial.println(content);//调试
    content=confirm(content);
    if(content!=-1){
      propeller=content%1000;
      rudder=(content-propeller)/1000;
      if(propeller>550||propeller<449){
        if(propeller>550){ 
          long zheng=0.568*propeller-312.4;
          digitalWrite(IN2,HIGH);
          digitalWrite(IN1,LOW);
          analogWrite(PWM,zheng);
          z=zheng;
          Serial.println("forward propelling");
          Serial.println(z);
        }
        else if(propeller<449){
          long fan=255-0.568*propeller;
          digitalWrite(IN1,HIGH);
          digitalWrite(IN2,LOW);
          analogWrite(PWM,fan);
          z=fan;
          Serial.println("back propelling");
          Serial.println(z);
        }
      }
      else if(propeller<=550||propeller>=449){
        z=0;
        analogWrite(PWM,0);
        Serial.println("stop propelling");
        Serial.println(z);
      } 
      Serial.println("inputing ruddering");
      if(rudder>550||rudder<449)
      {
        if(rudder<449){
          long fan1=0.1*rudder;
          MyServo.write(fan1);
          Serial.println("turn left");
          dj=2*fan1-90;
          Serial.println(dj);
        }
        else if(rudder>550){
          long zheng1=0.1*rudder-10.122;
          MyServo.write(zheng1);
          dj=2*zheng1-90;
          Serial.println("turn right");
          Serial.println(dj);
        }
      } 
      else if(rudder<=550||rudder>=449){
        dj=0;
        MyServo.write(45);
        Serial.println("stop turing");
        Serial.println(dj);
      }
    }
  }
  radio.stopListening();

  int distance=0;
  if(status==0){
    if(x<180){
      x+=2;
    }
    else{
      status=2;
    }
    RadarServo.write(x);             //调整舵机角度
    //测距
    distance = calculateDistance();
    //send distance
    response=1000000+x*1000+distance;
  }
  else if(status==1){
    if(x>0){
      x-=2;
    }
    else{
      status=2;
    }
    RadarServo.write(x);             //调整舵机角度
    //测距
    distance = calculateDistance();
    response=1000000+x*1000+distance;
    //send distance
  }
  else if(status=2){
    clrtime--;
    if(clrtime<=0){
      clrtime=4;
      if(x>=180){
        status=1;
      }
      else{
        status=0;
      }
    }
    //send clear
    response=2000000;
  }
  radio.write(response,sizeof(response));
  delay(20-distance/17);
}